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Feedback Systems:
An Introduction for Scientists and Engineers
Karl Johan Åström & Richard M. Murray

Book Description | Reviews
Chapter 1 [in PDF format]

TABLE OF CONTENTS:

Preface ix

Chapter 1. Introduction 1
1.1 What Is Feedback? 1
1.2 What Is Control? 3
1.3 Feedback Examples 5
1.4 Feedback Properties 17
1.5 Simple Forms of Feedback 23
1.6 Further Reading 25
Exercises 25

Chapter 2. System Modeling 27
2.1 Modeling Concepts 27
2.2 State Space Models 34
2.3 Modeling Methodology 44
2.4 Modeling Examples 51
2.5 Further Reading 61
Exercises 61

Chapter 3. Examples 65
3.1 Cruise Control 65
3.2 Bicycle Dynamics 69
3.3 Operational Amplifier Circuits 71
3.4 Computing Systems and Networks 75
3.5 Atomic Force Microscopy 81
3.6 Drug Administration 84
3.7 Population Dynamics 89
Exercises 91

Chapter 4. Dynamic Behavior 95
4.1 Solving Differential Equations 95
4.2 Qualitative Analysis 98
4.3 Stability 102
4.4 Lyapunov Stability Analysis 110
4.5 Parametric and Nonlocal Behavior 120
4.6 Further Reading 126
Exercises 126

Chapter 5. Linear Systems 131
5.1 Basic Definitions 131
5.2 The Matrix Exponential 136
5.3 Input/Output Response 145
5.4 Linearization 158
5.5 Further Reading 163
Exercises 164

Chapter 6. State Feedback 167
6.1 Reachability 167
6.2 Stabilization by State Feedback 175
6.3 State Feedback Design 183
6.4 Integral Action 195
6.5 Further Reading 197
Exercises 197

Chapter 7. Output Feedback 201
7.1 Observability 201
7.2 State Estimation 206
7.3 Control Using Estimated State 211
7.4 Kalman Filtering 215
7.5 A General Controller Structure 219
7.6 Further Reading 226
Exercises 226

Chapter 8. Transfer Functions 229
8.1 Frequency Domain Modeling 229
8.2 Derivation of the Transfer Function 231
8.3 Block Diagrams and Transfer Functions 242
8.4 The Bode Plot 250
8.5 Laplace Transforms 259
8.6 Further Reading 262
Exercises 262

Chapter 9. Frequency Domain Analysis 267
9.1 The Loop Transfer Function 267
9.2 The Nyquist Criterion 270
9.3 Stability Margins 278
9.4 Bode's Relations and Minimum Phase Systems 283
9.5 Generalized Notions of Gain and Phase 285
9.6 Further Reading 290
Exercises 290

Chapter 10. PID Control 293
10.1 Basic Control Functions 293
10.2 Simple Controllers for Complex Systems 298
10.3 PID Tuning 302
10.4 Integrator Windup 306
10.5 Implementation 308
10.6 Further Reading 312
Exercises 313

Chapter 11. Frequency Domain Design 315
11.1 Sensitivity Functions 315
11.2 Feedforward Design 319
11.3 Performance Specifications 322
11.4 Feedback Design via Loop Shaping 326
11.5 Fundamental Limitations 331
11.6 Design Example 340
11.7 Further Reading 343
Exercises 344

Chapter 12. Robust Performance 347
12.1 Modeling Uncertainty 347
12.2 Stability in the Presence of Uncertainty 352
12.3 Performance in the Presence of Uncertainty 358
12.4 Robust Pole Placement 361
12.5 Design for Robust Performance 369
12.6 Further Reading 374
Exercises 374

Bibliography 377
Index 387

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File created: 4/17/2014

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