Professor John M. Parr received his Bachelor of Science degree in Electrical Engineering from Auburn University in 1969, an MSEE from the Naval Postgraduate School in 1974, and a PhD in Electrical Engineering from Auburn University in 1988.  A retired U.S. Navy Officer, he served as a Program Manager/Project Engineer at Naval Electronic Systems Command in Washington, DC and Officer in Charge - Naval Ammunition Production Engineering Center, Crane, Indiana in addition to sea duty in five ships. Dr. Parr participated in research related to the Space Defense Initiative at Auburn University before joining the faculty at the University of Evansville. Dr. Parr is a co-author of another successful Electrical Engineering textbook, Signals, System and Transforms, by Phillips, Parr and Riskin. He is a registered professional engineer in Indiana, and is a member of the scientific research society Sigma Xi, the American Society of Engineering Educators (ASEE), and a Senior Member of the Institute of Electrical and Electronic Engineers (IEEE)

• 1    INTRODUCTION1.1  The Control Problem  1.2  Examples of Control Systems 1.3  Short History of Control   References   2    MODELS OF PHYSICAL SYSTEMS   2.1  System Modeling    2.2  Electrical Circuits    2.3  Block Diagrams and Signal Flow Graphs   2.4  Masonís Gain Formula    2.5  Mechanical Translational Systems   2.6  Mechanical Rotational Systems   2.7  Electromechanical Systems   2.8  Sensors   2.9  Temperature-control System   2.10 Analogous Systems   2.11 Transformers and Gears   2.12 Robotic Control System    2.13 System Identification    2.14 Linearization    2.15 Summary   References   Problems   3    STATE-VARIABLE MODELS   3.1  State-Variable Modeling   3.2  Simulation Diagrams   3.3  Solution of State Equations   3.4  Transfer Functions   3.5  Similarity Transformations   3.6  Digital Simulation    3.7  Controls Software    3.8  Analog Simulation    3.9  Summary    References    Problems     4    SYSTEM RESPONSES   4.1  Time Response of First-Order Systems    4.2  Time Response of Second-order Systems    4.3  Time Response Specifications in Design    4.4  Frequency Response of Systems    4.5  Time and Frequency Scaling    4.6  Response of Higher-order Systems    4.7  Reduced-order Models    4.8  Summary    References    Problems     5    CONTROL SYSTEM CHARACTERISTICS    5.1  Closed-loop Control System    5.2  Stability    5.3  Sensitivity    5.4  Disturbance Rejection    5.5  Steady-state Accuracy    5.6  Transient Response    5.7  Closed-loop Frequency Response   5.8  Summary    References   Problems     6    STABILITY ANALYSIS 6.1  Routh-Hurwitz Stability Criterion    6.2  Roots of the Characteristic Equation    6.3  Stability by Simulation    6.4  Summary   Problems    7    ROOT-LOCUS ANALYSIS AND DESIGN    7.1  Root-Locus Principles   7.2  Some Root-Locus Techniques   7.3  Additional Root-Locus Techniques   7.4  Additional Properties of the Root Locus   7.5  Other Configurations   7.6  Root-Locus Design    7.7  Phase-lead Design    7.8  Analytical Phase-Lead Design    7.9  Phase-Lag Design    7.10 PID Design    7.11 Analytical PID Design    7.12 Complementary Root Locus   7.13 Compensator Realization    7.14 Summary   References   Problems   8    FREQUENCY-RESPONSE ANALYSIS  8.1  Frequency Responses   8.2  Bode Diagrams   8.3  Additional Terms   8.4  Nyquist Criterion    8.5  Application of the Nyquist Criterion    8.6  Relative Stability and the Bode Diagram   8.7  Closed-Loop Frequency Response   8.8  Summary   References   Problems   9    FREQUENCY-RESPONSE DESIGN    9.1  Control System Specifications   9.2  Compensation    9.3  Gain Compensation    9.4  Phase-Lag Compensation    9.5  Phase-Lead Compensation    9.6  Analytical Design   9.7  Lag-Lead Compensation   9.8  PID Controller Design    9.9  Analytical PID Controller Design    9.10 PID Controller Implementation    9.11 Frequency-Response Software   9.12 Summary   References   Problems   10   MODERN CONTROL DESIGN   10.1 Pole-Placement Design   10.2 Ackermannís Formula   10.3 State Estimation   10.4 Closed-Loop System Characteristics   10.5 Reduced-Order Estimators   10.6 Controllability and Observability   10.7 Systems with Inputs   10.8 Summary   References   Problems    11   DISCRETE-TIME SYSTEMS   11.1 Discrete-Time System   11.2 Transform Methods   11.3 Theorems of the z-Transform   11.4 Solution of Difference Equations   11.5 Inverse z-Transform   11.6 Simulation Diagrams and Flow Graphs  11.7 State Variables   11.8 Solution of State Equations   11.9 Summary   References   Problems   12   SAMPLED-DATA SYSTEMS    12.1 Sampled Data   12.2 Ideal Sampler   12.3 Properties of the Starred Transform   12.4 Data Reconstruction   12.5 Pulse Transfer Function   12.6 Open-Loop Systems Containing Digital Filters   12.7 Closed-Loop Discrete-Time Systems   12.8 Transfer Functions for Closed-Loop Systems   12.9 State Variables for Sampled-Data Systems   12.10     Summary   References   Problems    13   ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS  13.1 Two Examples 13.2 Discrete System Stability  13.3 Juryís Test   13.4 Mapping the s-Plane into the z-Plane 13.5 Root Locus    13.6 Nyquist Criterion    13.7 Bilinear Transformation    13.8 RouthñHurwitz Criterion    13.9 Bode Diagram    13.10     Steady-State Accuracy  13.11     Design of Digital Control Systems  13.12     Phase-Lag Design   13.13     Phase-Lead Design  13.14     Digital PID Controllers  13.15     Root-Locus Design  13.16     Summary   References   Problems    14 DISCRETE-TIME POLE-ASSIGNMENT AND STATE ESTIMATION14.1 Introduction14.2 Pole Assignment14.3 State Estimtion14.4 Reduced-Order Observers14.5 Current Observers14.6 Controllability and Observability14.7 Systems and Inputs14.8 SummaryReferencesProblems    15   NONLINEAR SYSTEM ANALYSIS    15.1 Nonlinear System Definitions and Properties   15.2 Review of the Nyquist Criterion    15.3 Describing Function    15.4 Derivations of Describing Functions   15.5 Use of the Describing Function    15.6 Stability of Limit Cycles   15.7 Design    15.8 Application to Other Systems   15.9 Linearization   15.10     Equilibrium States and Lyapunov Stability   15.11     State Plane Analysis   15.12     Linear-System Response   15.13     Summary    References   Problems  APPENDICES     A    Matrices  B    Laplace Transform  C    Laplace Transform and z-Transform Tables  D    MATLAB Commands Used in This TextE    Answers to Selected Problems  INDEX

This book presents mathematically oriented classical control theory in a concise manner such that undergraduate students are not overwhelmed by the complexity of the materials. In each chapter, it is organized such that the more advanced material is placed toward the end of the chapter.

Professor John M. Parr received his Bachelor of Science degree in Electrical Engineering from Auburn University in 1969, an MSEE from the Naval Postgraduate School in 1974, and a PhD in Electrical Engineering from Auburn University in 1988.  A retired U.S. Navy Officer, he served as a Program Manager/Project Engineer at Naval Electronic Systems Command in Washington, DC and Officer in Charge - Naval Ammunition Production Engineering Center, Crane, Indiana in addition to sea duty in five ships. Dr. Parr participated in research related to the Space Defense Initiative at Auburn University before joining the faculty at the University of Evansville. Dr. Parr is a co-author of another successful Electrical Engineering textbook, Signals, System and Transforms, by Phillips, Parr and Riskin. He is a registered professional engineer in Indiana, and is a member of the scientific research society Sigma Xi, the American Society of Engineering Educators (ASEE), and a Senior Member of the Institute of Electrical and Electronic Engineers (IEEE)

• 1    INTRODUCTION1.1  The Control Problem  1.2  Examples of Control Systems 1.3  Short History of Control   References   2    MODELS OF PHYSICAL SYSTEMS   2.1  System Modeling    2.2  Electrical Circuits    2.3  Block Diagrams and Signal Flow Graphs   2.4  Masonís Gain Formula    2.5  Mechanical Translational Systems   2.6  Mechanical Rotational Systems   2.7  Electromechanical Systems   2.8  Sensors   2.9  Temperature-control System   2.10 Analogous Systems   2.11 Transformers and Gears   2.12 Robotic Control System    2.13 System Identification    2.14 Linearization    2.15 Summary   References   Problems   3    STATE-VARIABLE MODELS   3.1  State-Variable Modeling   3.2  Simulation Diagrams   3.3  Solution of State Equations   3.4  Transfer Functions   3.5  Similarity Transformations   3.6  Digital Simulation    3.7  Controls Software    3.8  Analog Simulation    3.9  Summary    References    Problems     4    SYSTEM RESPONSES   4.1  Time Response of First-Order Systems    4.2  Time Response of Second-order Systems    4.3  Time Response Specifications in Design    4.4  Frequency Response of Systems    4.5  Time and Frequency Scaling    4.6  Response of Higher-order Systems    4.7  Reduced-order Models    4.8  Summary    References    Problems     5    CONTROL SYSTEM CHARACTERISTICS    5.1  Closed-loop Control System    5.2  Stability    5.3  Sensitivity    5.4  Disturbance Rejection    5.5  Steady-state Accuracy    5.6  Transient Response    5.7  Closed-loop Frequency Response   5.8  Summary    References   Problems     6    STABILITY ANALYSIS 6.1  Routh-Hurwitz Stability Criterion    6.2  Roots of the Characteristic Equation    6.3  Stability by Simulation    6.4  Summary   Problems    7    ROOT-LOCUS ANALYSIS AND DESIGN    7.1  Root-Locus Principles   7.2  Some Root-Locus Techniques   7.3  Additional Root-Locus Techniques   7.4  Additional Properties of the Root Locus   7.5  Other Configurations   7.6  Root-Locus Design    7.7  Phase-lead Design    7.8  Analytical Phase-Lead Design    7.9  Phase-Lag Design    7.10 PID Design    7.11 Analytical PID Design    7.12 Complementary Root Locus   7.13 Compensator Realization    7.14 Summary   References   Problems   8    FREQUENCY-RESPONSE ANALYSIS  8.1  Frequency Responses   8.2  Bode Diagrams   8.3  Additional Terms   8.4  Nyquist Criterion    8.5  Application of the Nyquist Criterion    8.6  Relative Stability and the Bode Diagram   8.7  Closed-Loop Frequency Response   8.8  Summary   References   Problems   9    FREQUENCY-RESPONSE DESIGN    9.1  Control System Specifications   9.2  Compensation    9.3  Gain Compensation    9.4  Phase-Lag Compensation    9.5  Phase-Lead Compensation    9.6  Analytical Design   9.7  Lag-Lead Compensation   9.8  PID Controller Design    9.9  Analytical PID Controller Design    9.10 PID Controller Implementation    9.11 Frequency-Response Software   9.12 Summary   References   Problems   10   MODERN CONTROL DESIGN   10.1 Pole-Placement Design   10.2 Ackermannís Formula   10.3 State Estimation   10.4 Closed-Loop System Characteristics   10.5 Reduced-Order Estimators   10.6 Controllability and Observability   10.7 Systems with Inputs   10.8 Summary   References   Problems    11   DISCRETE-TIME SYSTEMS   11.1 Discrete-Time System   11.2 Transform Methods   11.3 Theorems of the z-Transform   11.4 Solution of Difference Equations   11.5 Inverse z-Transform   11.6 Simulation Diagrams and Flow Graphs  11.7 State Variables   11.8 Solution of State Equations   11.9 Summary   References   Problems   12   SAMPLED-DATA SYSTEMS    12.1 Sampled Data   12.2 Ideal Sampler   12.3 Properties of the Starred Transform   12.4 Data Reconstruction   12.5 Pulse Transfer Function   12.6 Open-Loop Systems Containing Digital Filters   12.7 Closed-Loop Discrete-Time Systems   12.8 Transfer Functions for Closed-Loop Systems   12.9 State Variables for Sampled-Data Systems   12.10     Summary   References   Problems    13   ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS  13.1 Two Examples 13.2 Discrete System Stability  13.3 Juryís Test   13.4 Mapping the s-Plane into the z-Plane 13.5 Root Locus    13.6 Nyquist Criterion    13.7 Bilinear Transformation    13.8 RouthñHurwitz Criterion    13.9 Bode Diagram    13.10     Steady-State Accuracy  13.11     Design of Digital Control Systems  13.12     Phase-Lag Design   13.13     Phase-Lead Design  13.14     Digital PID Controllers  13.15     Root-Locus Design  13.16     Summary   References   Problems    14 DISCRETE-TIME POLE-ASSIGNMENT AND STATE ESTIMATION14.1 Introduction14.2 Pole Assignment14.3 State Estimtion14.4 Reduced-Order Observers14.5 Current Observers14.6 Controllability and Observability14.7 Systems and Inputs14.8 SummaryReferencesProblems    15   NONLINEAR SYSTEM ANALYSIS    15.1 Nonlinear System Definitions and Properties   15.2 Review of the Nyquist Criterion    15.3 Describing Function    15.4 Derivations of Describing Functions   15.5 Use of the Describing Function    15.6 Stability of Limit Cycles   15.7 Design    15.8 Application to Other Systems   15.9 Linearization   15.10     Equilibrium States and Lyapunov Stability   15.11     State Plane Analysis   15.12     Linear-System Response   15.13     Summary    References   Problems  APPENDICES     A    Matrices  B    Laplace Transform  C    Laplace Transform and z-Transform Tables  D    MATLAB Commands Used in This TextE    Answers to Selected Problems  INDEX

This book presents mathematically oriented classical control theory in a concise manner such that undergraduate students are not overwhelmed by the complexity of the materials. In each chapter, it is organized such that the more advanced material is placed toward the end of the chapter.

Professor John M. Parr received his Bachelor of Science degree in Electrical Engineering from Auburn University in 1969, an MSEE from the Naval Postgraduate School in 1974, and a PhD in Electrical Engineering from Auburn University in 1988.  A retired U.S. Navy Officer, he served as a Program Manager/Project Engineer at Naval Electronic Systems Command in Washington, DC and Officer in Charge - Naval Ammunition Production Engineering Center, Crane, Indiana in addition to sea duty in five ships. Dr. Parr participated in research related to the Space Defense Initiative at Auburn University before joining the faculty at the University of Evansville. Dr. Parr is a co-author of another successful Electrical Engineering textbook, Signals, System and Transforms, by Phillips, Parr and Riskin. He is a registered professional engineer in Indiana, and is a member of the scientific research society Sigma Xi, the American Society of Engineering Educators (ASEE), and a Senior Member of the Institute of Electrical and Electronic Engineers (IEEE)

• 1    INTRODUCTION1.1  The Control Problem  1.2  Examples of Control Systems 1.3  Short History of Control   References   2    MODELS OF PHYSICAL SYSTEMS   2.1  System Modeling    2.2  Electrical Circuits    2.3  Block Diagrams and Signal Flow Graphs   2.4  Masonís Gain Formula    2.5  Mechanical Translational Systems   2.6  Mechanical Rotational Systems   2.7  Electromechanical Systems   2.8  Sensors   2.9  Temperature-control System   2.10 Analogous Systems   2.11 Transformers and Gears   2.12 Robotic Control System    2.13 System Identification    2.14 Linearization    2.15 Summary   References   Problems   3    STATE-VARIABLE MODELS   3.1  State-Variable Modeling   3.2  Simulation Diagrams   3.3  Solution of State Equations   3.4  Transfer Functions   3.5  Similarity Transformations   3.6  Digital Simulation    3.7  Controls Software    3.8  Analog Simulation    3.9  Summary    References    Problems     4    SYSTEM RESPONSES   4.1  Time Response of First-Order Systems    4.2  Time Response of Second-order Systems    4.3  Time Response Specifications in Design    4.4  Frequency Response of Systems    4.5  Time and Frequency Scaling    4.6  Response of Higher-order Systems    4.7  Reduced-order Models    4.8  Summary    References    Problems     5    CONTROL SYSTEM CHARACTERISTICS    5.1  Closed-loop Control System    5.2  Stability    5.3  Sensitivity    5.4  Disturbance Rejection    5.5  Steady-state Accuracy    5.6  Transient Response    5.7  Closed-loop Frequency Response   5.8  Summary    References   Problems     6    STABILITY ANALYSIS 6.1  Routh-Hurwitz Stability Criterion    6.2  Roots of the Characteristic Equation    6.3  Stability by Simulation    6.4  Summary   Problems    7    ROOT-LOCUS ANALYSIS AND DESIGN    7.1  Root-Locus Principles   7.2  Some Root-Locus Techniques   7.3  Additional Root-Locus Techniques   7.4  Additional Properties of the Root Locus   7.5  Other Configurations   7.6  Root-Locus Design    7.7  Phase-lead Design    7.8  Analytical Phase-Lead Design    7.9  Phase-Lag Design    7.10 PID Design    7.11 Analytical PID Design    7.12 Complementary Root Locus   7.13 Compensator Realization    7.14 Summary   References   Problems   8    FREQUENCY-RESPONSE ANALYSIS  8.1  Frequency Responses   8.2  Bode Diagrams   8.3  Additional Terms   8.4  Nyquist Criterion    8.5  Application of the Nyquist Criterion    8.6  Relative Stability and the Bode Diagram   8.7  Closed-Loop Frequency Response   8.8  Summary   References   Problems   9    FREQUENCY-RESPONSE DESIGN    9.1  Control System Specifications   9.2  Compensation    9.3  Gain Compensation    9.4  Phase-Lag Compensation    9.5  Phase-Lead Compensation    9.6  Analytical Design   9.7  Lag-Lead Compensation   9.8  PID Controller Design    9.9  Analytical PID Controller Design    9.10 PID Controller Implementation    9.11 Frequency-Response Software   9.12 Summary   References   Problems   10   MODERN CONTROL DESIGN   10.1 Pole-Placement Design   10.2 Ackermannís Formula   10.3 State Estimation   10.4 Closed-Loop System Characteristics   10.5 Reduced-Order Estimators   10.6 Controllability and Observability   10.7 Systems with Inputs   10.8 Summary   References   Problems    11   DISCRETE-TIME SYSTEMS   11.1 Discrete-Time System   11.2 Transform Methods   11.3 Theorems of the z-Transform   11.4 Solution of Difference Equations   11.5 Inverse z-Transform   11.6 Simulation Diagrams and Flow Graphs  11.7 State Variables   11.8 Solution of State Equations   11.9 Summary   References   Problems   12   SAMPLED-DATA SYSTEMS    12.1 Sampled Data   12.2 Ideal Sampler   12.3 Properties of the Starred Transform   12.4 Data Reconstruction   12.5 Pulse Transfer Function   12.6 Open-Loop Systems Containing Digital Filters   12.7 Closed-Loop Discrete-Time Systems   12.8 Transfer Functions for Closed-Loop Systems   12.9 State Variables for Sampled-Data Systems   12.10     Summary   References   Problems    13   ANALYSIS AND DESIGN OF DIGITAL CONTROL SYSTEMS  13.1 Two Examples 13.2 Discrete System Stability  13.3 Juryís Test   13.4 Mapping the s-Plane into the z-Plane 13.5 Root Locus    13.6 Nyquist Criterion    13.7 Bilinear Transformation    13.8 RouthñHurwitz Criterion    13.9 Bode Diagram    13.10     Steady-State Accuracy  13.11     Design of Digital Control Systems  13.12     Phase-Lag Design   13.13     Phase-Lead Design  13.14     Digital PID Controllers  13.15     Root-Locus Design  13.16     Summary   References   Problems    14 DISCRETE-TIME POLE-ASSIGNMENT AND STATE ESTIMATION14.1 Introduction14.2 Pole Assignment14.3 State Estimtion14.4 Reduced-Order Observers14.5 Current Observers14.6 Controllability and Observability14.7 Systems and Inputs14.8 SummaryReferencesProblems    15   NONLINEAR SYSTEM ANALYSIS    15.1 Nonlinear System Definitions and Properties   15.2 Review of the Nyquist Criterion    15.3 Describing Function    15.4 Derivations of Describing Functions   15.5 Use of the Describing Function    15.6 Stability of Limit Cycles   15.7 Design    15.8 Application to Other Systems   15.9 Linearization   15.10     Equilibrium States and Lyapunov Stability   15.11     State Plane Analysis   15.12     Linear-System Response   15.13     Summary    References   Problems  APPENDICES     A    Matrices  B    Laplace Transform  C    Laplace Transform and z-Transform Tables  D    MATLAB Commands Used in This TextE    Answers to Selected Problems  INDEX

This book presents mathematically oriented classical control theory in a concise manner such that undergraduate students are not overwhelmed by the complexity of the materials. In each chapter, it is organized such that the more advanced material is placed toward the end of the chapter.