The central theme of this book is continuous-time control; however we also treat digital control in detail, because most modern control systems will usually be implemented on some form of computer hardware. This approach inevitably led to a book of larger volume than originally intended, but one with the advantage of providing a comprehensive treatment within an integrated framework. Naturally, there remain specialized topics that are not covered in the book; however, we trust that we provide a sufficiently strong foundation so that the reader can comfortably turn to the study of appropriate complementary literature.
Design is a complex process, one that requires judgment and iteration. The design problem normally is incompletely specified, sometimes is ill-defined, and many times is without solution. A key element in design is an understanding of those factors that limit the achievable performance. This naturally leads to a viewpoint of control design that takes account of these fundamental limitations. This viewpoint is a recurring theme throughout the book.
Our objective is not to explore the full depth of mathematical completeness but instead to give enough detail so that a reader can begin applying the ideas as soon as possible. This approach is connected to our assumption that readers will have ready access to modern computational facilities, including the software package MATLAB-SIMULINK. This assumption allows us to put the emphasis on fundamental ideas rather than on the tools. Every chapter includes worked examples and problems for the reader.
1. The Excitement of Control Engineering.
2. Introduction to the Principles of Feedback.
4. Continuous-Time Signals and Systems.
II. SISO CONTROL ESSENTIALS.
5. Analysis of SISO Control Loops.
6. Classical PID Control.
7. Synthesis of SISO Controllers.
III. SISO CONTROL DESIGN.
8. Fundamental Limitations in SISO Control.
9. Frequency-Domain Design Limitations.
10. Architectural Issues in SISO Control.
11. Dealing with Constraints.
IV. DIGITAL COMPUTER CONTROL.
12. Models for Sampled-Data Systems.
13. Digital Control.
14. Hybrid Control.
V. ADVANCED SISO CONTROL.
15. SISO Controller Parameterizations.
16. Control Design Based on Optimization.
17. Linear State Space Models.
18. Synthesis via State Space Methods.
19. Introduction to Nonlinear Control.
VI. MIMO CONTROL ESSENTIALS.
20. Analysis of MIMO Control Loops.
21. Exploiting SISO Techniques in MIMO Control.
VII. MIMO CONTROL DESIGN.
22. Design via Optimal Control Techniques.
23. Model Predictive Control.
24. Fundamental Limitations in MIMO Control.
VIII. ADVANCED MIMO CONTROL.
25. MIMO Controller Parameterizations.
Appendix A: Notation, Symbols, and Acronyms.
Appendix B: Smith-McMillan Forms.
Appendix C: Results from Analytic Function Theory.
Appendix D: Properties of Continuous-Time Riccati Equations.
Appendix E: MATLAB Support.
Graham C. Goodwin / Mario E. Salgado/ Stefan F. Graebe
0139586539 | 9780139586538