automated control systems, 8/e by benjamin c. kuo and farid golnaraghi copyright © 2003 john wiley...

Automated Control Systems, 8/E by Benjamin C. Kuo and Farid GolnaraghiCopyright © 2003 John Wiley & Sons. Inc. All rights reserved.

Figure 10-1 (p. 433)Controlled process.


Figure 10-2 (p. 436)Various controller configura-tions in control-system compensation. (a) Series or cascade compensation. (b) Feedback compensation. (c) State-feedback control. (d) Series-feedback compensation (two degrees of freedom). (e) Forward compensation with series compensation (two degrees of freedom). (f) Feed/forward compensation (two degrees of freedom).


Figure 10-3 (p. 439)Control system with PD controller.


Figure 10-4 (p. 439)Op-amp circuit realization of the PD controller.


Figure 10-5 (p. 440)Waveforms of y(t), e(t), and de(t)/dt, showing the effect of derivative control. (a) Unit-step response. (b) Error signal. (c) Time rate of change of the error signal.


Figure 10-6 (p. 443)

Bode diagram of 1. , 1 PP

D KK

sK


Figure 10-7 (p. 445)Root loci of Eq. (10-16).


Figure 10-8 (p. 446)Root contours of Eq. (10-14) when KP = 0.25 and 1.0; KD varies.


Figure 10-9 (p. 446)Unit-step response of the attitude control system in Fig. 7-25 with and without PD controller.


Figure 10-10 (p. 447)KP-versus-KD parameter plane for the attitude control system with a PD controller.


Figure 10-11 (p. 448)

Bode plot of G(s) = 361.2) (

) 265(1 815, )(

ss

sKsG D


Figure 10-12 (p. 450)Root contours of s3 + 3408.3s2 + (1,204,000 + 2.718 X 109 KD)s + 2.718 X 109 = 0.


Figure 10-13 (p. 452)Unit-step responses of the system in Example 10-2 with PD controller.


Figure 10-14 (p. 453)Bode diagram of G(s) of system in Example 10-2 with PD controller.


Figure 10-15 (p. 454)Control system with PI controller.


Figure 10-16 (p. 455)

Op-amp-circuit realization of the PI controller. (Gc(s) = (a) Two-op-amp circuit. (b) Three-op-amp circuit.

s

KK l

P


Figure 10-17 (p. 456)Pole-zero configuration of a PI controller.


Figure 10-18 (p. 457)Bode diagram of the PI controller. Gc(s) = KP + .

s

K l


Figure 10-19 (p. 460)Root loci of Eq. (10-37)with K1/KP = 10; KP varies.


Figure 10-20 (p. 461)Unit-step responses of the system in Example 10-3 with PI control. Also, unit-step response of the system in Example 10-1 with PD controller.


Figure 10-21 (p. 462)Bode plots of control system in Example 10-3 with PI controller.

G(s) = 0.08 361.2) (

)/ (815,265

P2PlP K

ss

KKsK


Figure 10-22(a) (p. 465)(a) Root loci of control system in Example 10-4 with PI controller K1/KP = 2,

0 KP < .


Figure 10-22(b) (p. 466)(b) Bode plots of control system in Example 10-4 with PI control.


Figure 10-23 (p. 467)Unit-step response of system with PI controller in Example 10-4.

G(s) =3008) 400.26)( (

)/ (10 X 2.7182

9

sss

KKsK PlP


Figure 10-24 (p. 470)Step responses of system in Example 10-5 with PD, PI, and PID controllers.


Figure 10-25 (p. 471)Bode plot of system in Example 10-5 with PD and PID controllers.


Figure 10-26 (p. 472)Op-amp circuit implementation of G(s) =

l

l

Ps

zsKc


Figure 10-27 (p. 473)Pole-zero configuration of the phase-lead controller.


Figure 10-28 (p. 474)Bode plot of phase-lead controller Gc(s) = 1. a

1/

1/

T s

aT Ksa


Figure 10-29 (p. 476)Block diagram of sun-seeker control systems.


Figure 10-30 (p. 477)Unit-step response of sun-seeker system in Example 10-6.


Figure 10-31 (p. 478)Root contours of the sun-seeker system with a = 0, and T varies from 0 to .


Figure 10-32 (p. 479)Root contours of the sun-seeker system with a phase-lead controller.


Figure 10-33 (p. 481)Bode diagram of phase-lead compensation and uncompensated system in Example 10-6,

G(s) = )25)((

) 1(2500

Ts s ss

aTs


Figure 10-34 (p. 482)Plots of G(s) in the Nichols chart for the system in Example 10-6.

G(s) = )25)(1(

) 1(2500

Ts ss

aTs


Figure 10-35 (p. 485)Root contours of sun-seeker system in Example 10-7 with phase-lead controller

G(s) = Ts

aTs

1

1


Figure 10-36 (p. 486)Unit-step responses of sun-seeker system in Example 10-7 with phase-

lead controller. Gc(s) = Ts

aTs

1

1


Figure 10-37 (p. 487)Bode plots of phase-lead controller and forward-path transfer function of sun-seeker system in Example 10-7.

Gc(s) =Ts

aTs

1

1


Figure 10-38 (p. 490)Two-stage phase-lead (phase-lag) controller.


Figure 10-39 (p. 491)Bode plots of uncompensated and compensated sun-seeker systems in Example 10-7 with two-sate phase-lead controller.

GP(s) = .156,250) 625 (

000,250,1562 sss


Figure 10-40 (p. 493)Unit-step responses of sun-seeker system in Example 10-7 with two-stage

phase-lead controller. 156,250) 625 (

0156,250,00 )( )

1

1)(

1

1( )s(G

2c

sss

sGsT

sTa

sT

sTaP

2

22

1

11


Figure 10-41 (p. 494)Sensitivity functions of sun-seeker system in Example 10-7.


Figure 10-42 (p. 495)Pole-zero configuration of phase-lag controller.

Gc(s) = 1. 1

11

aTs

aTs

a


Figure 10-43 (p. 496)Design strategies for phase-lag control for type 0 and type 1 systems.


Figure 10-497 (p. 497)Root loci of uncompensated and phase-lag-compensated systems.


Figure 10-45 (p. 498)Bode diagram of the phase-lag controller. Gc(s) = 1.

1

1

aTs

aTs


Figure 10-46 (p. 500)Root loci of sun-seeker system in Example 10-9.

100 0.125 1

1 )(

25) (

2500 )(

TaTs

aTssG

ss

KsG cp


Figure 10-47 (p. 501)Unit-step responses of uncompensated and compensated sun-seeker systems with phase-lab controller in Example 10-9.

GP(s) = 30. 0.09 1

1 )(

25) (

2500 )(

TaTs

aTssG

ss

KsG cp


Figure 10-48 (p. 502)Root contours of sun-seeker system in Example 10-9 with phase-lag controller.


Figure 10-49 (p. 504)Bode plot of uncompensated and compensated systems with phase-lag controller in Example 10-9.

Gc(s) =

Gp(s) =

s

s

30 1

3 1

25) (

2500

ss


Figure 10-50 (p. 505)Root loci of uncompensated system in Example 10-10.

GP(s) = .156,250) 625 (

000,250,1562 sss


Figure 10-51 (p. 506)Sensitivity function of phase-lag-compensated system in Example 10-10.


Figure 10-52 (p. 508)Sun-seeker system in Example 10-11 with single-stage phase-lag controller, lead-lag controller, and two-stage phase-lead controller.


Figure 10-53 (p. 510)Pole-zero configuration and root loci of inexact cancellation.


Figure 10-54 (p. 511)Root loci showing the effects of inexact pole-zero cancellations.


Figure 10-55 (p. 512)Op-amp circuit realization of the second-order transfer function.

212

212

1

2

)(

)(

asas

bsbsK

sE

sE


Figure 10-56 (p. 513)Bode plot of a notch controller with the transfer function.

G(s) = 10.42) 0.384)( (

4) 0.8 2

ss

ss


Figure 10-57 (p. 514)Block diagram of speed-control system in Example 10-12.


Figure 10-58 (p. 516)Unit-step responses of speed-control system in Example 10-12.


Figure 10-59 (p. 518)Bode plots of uncompensated speed-control system in Example 10-12 with notch controller and with notch-PI controller.

Gc(s) = .0.35

0.0316 )( 1.199,025 16,670.28

61,198,606. 95.3 22

2

ssG

ss

ssc


Figure 10-60 (p. 519)Unit-step responses of speed-control system in Example 10-13 with notch-

PI controller. Gc(s) = .0.35

0.0316 )( 1.199,025 16,670.28

61,198,606. 95.3 22

2

ssG

ss

ssc


Figure 10-61 (p. 521)(a) Forward compensation with series compensation. (b) Feedforward compensation with series compensations.


Figure 10-62 (p. 521)Control system with disturbance.


Figure 10-63 (p. 523)Unit-step responses of second-order sun-seeker system with phase-lag controller.

G(s) = )100 25)(1 (

)10 2500(1

sss

s


Figure 10-64 (p. 524)Root loci of second-order sun-seeker system with phase-lag controller.

G(s) = )100 25)(1 (

)10 2500(1

sss

s


Figure 10-65 (p. 525)Root loci of second-order sun-seeker system with robust controller.

G(s) = 25) (

269) 26 9.2937K( 2

ss

ss


Figure 10-66 (p. 525)Second-order sun-seeker system with robust controller and forward controller.


Figure 10-66 (p. 526)Unit-step responses of second-order sun-seeker system with robust controller and forward controller.


Figure 10-68 (p. 526)Amplitude Bode plot of response due to noise of second-order sun-seeker system.


Figure 10-69 (p. 528)Root loci of third-order sun-seeker system with robust and forward controllers.


Figure 10-70 (p. 529)Root loci of position-control system in Example 10-16 with robust and forward controllers.


Figure 10-71 (p. 531)Control system with tachometer feedback.


Figure 10-72 (p. 532)(a) Sun-seeker control system with minor-loop control. (b) Op-amp circuit

realization of . 11

Ts

sK


Figure 10-73 (p. 533)Root contours of Ts3 + (25T + 1)s2 + (25 + 2500Kt + 2500T)s + 2500 = 0, Kt = 0.02


Figure 10-74 (p. 534)Block diagram of control system with state feedback.


Figure 10-75 (p. 535)Control of a second-order system by state feedback.


Figure 10-76 (p. 537)(a) State diagram of magnetic-ball suspension system. (b) State diagram of magnetic-ball-suspension system with state feedback.


Figure 10-77 (p. 538)Output response of magnetic-ball suspension system with state beedback, subject to initial condition y(0) = x1(0) = 1.


Figure 10-78 (p. 539)(a) State diagram of second-order sun-seeker system. (b) State diagram of second-order sun-seeker system with state feedback.


Figure 10-79 (p. 540)Block diagram of control system with state feedback and integral output feedback.


Figure 10-80 (p. 542)Sun-seeker system with state feedback and integral control in Example 10-20.


Figure 10-81 (p. 544)DC motor control system with state feedback and integral control and disturbance torque in Example 10-21.


Figure 10-82 (p. 545)Time responses of dc-motor control system with state feedback and integral control and disturbance torque in Example 10-21.


Figure 20-83 (p. 546)The control system with unity feedback for Example 10-22.


Figure 10-84 (p. 547)Controller Design main window.


Figure 10-85 (p. 547)Controller Design main window showing the closed-loop transfer function.


Figure 10-86 (p. 548)(a) Root locus of Eq. (7-201); (b) G and H poles and zeros.


Figure 10-87 (p. 549)(a) Unit-step response ofEq. (7-201) for K = 1; (b) poles and zeros of (7-201) for K = 1.


Figure 10-88 (p. 550)(a) Using the Design Constraints option for Example 10-22. (b) Settling time < 0.005 and percent overshoot < 4.33.


Figure 10-89 (p. 551)The root-locus diagram for Example 10-22, after incorporating the percent overshoot and the settling time as design constraints.


Figure 10-90 (p. 552)Addition of a zero to the controller C(s) to create a PD controller.


Figure 10-91 (p. 553)The root-locus diagram for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772.


Figure 10-92 (p. 554)(a) The root-locus diagram, (b) the closed-loop poles for Example 10-22 after incorporating a zero in the PD controller at –1/0.001772 and using a gain of 181.


Figure 10-93 (p. 555)Step response of the system of Example 10-22 with a PD controller, C(s) = 181 (s + 1/0.001772).


Figure 10-94 (p. 555)The loop magnitude and phase diagrams in the frequency-domain SISO Design Tool for Example 10-22.


Figure 10-95 (p. 556)The loop magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.


Figure 10-96 (p. 556)The loop magnitude and phase diagrams and the root locus for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.


Figure 10-97 (p. 557)The closed-loop, unit-step, and magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.


Figure 10P-3 (p. 560)


Figure 10P-6 (p. 561)


Figure 10P-8 (p. 561)


Figure 10P-12 (p. 562)


Figure 10P-13 (p. 562)


Figure 10P-15 (p. 563)


Figure 10P-17 (p. 564)


Figure 10P-18 (p. 564)


Figure 10P-19 (p. 565)


Figure 10P-25 (p. 567)


Figure 10P-29 (p. 569)


Figure 10P-30 (p. 570)


Figure 10P-32 (p. 571)


Figure 10P-33 (p. 571)


Figure 10P-34 (p. 571)


Figure 10P-35 (p. 572)


Figure 10P-36 (p. 572)


Figure 10P-37 (p. 572)


Figure 10P-38 (p. 573)


Figure 10P-40 (p. 574)


Figure 10P-41 (p. 574)


Figure 10P-42 (p. 575)


Figure 10P-43 (p. 575)


Figure 10P-46 (p. 577)

automated control systems, 8/e by benjamin c. kuo and farid golnaraghi copyright © 2003 john wiley...

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