Page 452 - Mechanical Engineers' Handbook (Volume 2)

Mechanical Engineers’ Handbook: Instrumentation, Systems, Controls, and MEMS, Volume 2, Third Edition.

Edited by Myer Kutz

Copyright  2006 by John Wiley & Sons, Inc.

CHAPTER 12
CLOSED-LOOP CONTROL
SYSTEM ANALYSIS
Suhada Jayasuriya
Department of Mechanical Engineering
Texas A&M University
College Station, Texas
1 INTRODUCTION 444 5.1 Closed-Loop Transfer
1.1 Closed-Loop versus Function 468
Open-Loop Control 445 5.2 Open-Loop Transfer
1.2 Supervisory Control Function 469
Computers 445 5.3 Characteristic Equation 469
1.3 Hierarchical Control 5.4 Standard Second-Order
Computers 445 Transfer Function 471
1.4 Direct Digital Control 5.5 Step Input Response of a
(DDC) 446 Standard Second-Order
1.5 Hybrid Control 446 System 472
1.6 Real Systems with Digital 5.6 Effects of an Additional
Control 447 Zero and an Additional Pole 474
2 LAPLACE TRANSFORMS 448 6 STABILITY 475
2.1 Single-Sided Laplace 6.1 Routh–Hurwitz Stability
Transform 448 Criterion 475
2.2 Transforming LTI Ordinary 6.2 Polar Plots 481
Differential Equations 450 6.3 Nyquist Stability Criterion 481
2.3 Transfer Function 451
2.4 Partial-Fraction Expansion 7 STEADY-STATE
and Inverse Transform 452 PERFORMANCE AND SYSTEM
2.5 Inverse Transform by a TYPE 482
General Formula 456 7.1 Step Input 483
7.2 Ramp Input 487
3 BLOCK DIAGRAMS 456 7.3 Parabolic Input 488
3.1 Block Diagram Reduction 457 7.4 Indices of Performance 489
3.2 Transfer Functions of 7.5 Integral-Square-Error (ISE)
Cascaded Elements 458 Criterion 489
7.6 Integral of Time-Multiplied
4 z-TRANSFORMS 459 Absolute-Error (ITAE)
4.1 Single-Sided z-Transform 461 Criterion 490
4.2 Poles and Zeros in the 7.7 Comparison of Various
z-Plane 461 Error Criteria 490
4.3 z-Transforms of Some
Elementary Functions 461 8 SIMULATION FOR CONTROL
4.4 Some Important Properties SYSTEM ANALYSIS 490
and Theorems of the 8.1 Analog Computation 492
z-Transform 462 8.2 Digital Computation 498
4.5 Pulse Transfer Function 463 8.3 Hybrid Computation 501
4.6 Zero- and First-Order Hold 464
REFERENCES 501
5 CLOSED-LOOP
REPRESENTATION 468 BIBLIOGRAPHY 501

Reprinted from Instrumentation and Control, Wiley, New York, 1990, by permission of the publisher.

443