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| Preface | |
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| An Overview and Brief History of Feedback Control | |
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| Chapter Overview | |
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| A Perspective on Feedback Control | |
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| A Simple Feedback System | |
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| A First Analysis of Feedback | |
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| A Brief History | |
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| An Overview of the Book | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Dynamic Models | |
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| Chapter Overview | |
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| A Perspective on Dynamic Models | |
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| Dynamics of Mechanical Systems | |
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| Differential Equations in State-Variable Form | |
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| Models of Electric Circuits | |
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| Models of Electromechanical Systems | |
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| Heat- and Fluid-Flow Models | |
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| Linearization and Scaling | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Dynamic Response | |
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| Chapter Overview | |
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| A Perspective on System Response | |
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| Review of Laplace Transforms | |
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| System Modeling Diagrams | |
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| Effect of Pole Locations | |
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| Time-Domain Specifications | |
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| Effects of Zeros and Additional Poles | |
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| Stability | |
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| Numerical Simulation | |
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| Obtaining Models from Experimental Data | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Basic Properties of Feedback | |
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| Chapter Overview | |
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| A Perspective on Properties of Feedback | |
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| A Case Study of Speed Control | |
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| The Classical Three-Term Controller | |
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| Steady-State Tracking and System Type | |
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| Digital Implementation of Controllers | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| The Root-Locus Design Method | |
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| Chapter Overview | |
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| A Perspective on the Root-locus Design Method | |
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| Root Locus of a Basic Feedback System | |
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| Guidelines for Sketching a Root Locus | |
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| Selected Illustrative Root Loci | |
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| Selecting the Parameter Value | |
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| Dynamic Compensation | |
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| A Design Example Using the Root Locus | |
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| Extensions of the Root-Locus Method | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| The Frequency-Response Design Method | |
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| Chapter Overview | |
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| A Perspective on the Frequency-response Design Method | |
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| Frequency Response | |
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| Neutral Stability | |
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| The Nyquist Stability Criterion | |
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| Stability Margins | |
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| Bode's Gain-Phase Relationship | |
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| Closed-Loop Frequency Response | |
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| Compensation | |
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| Alternate Presentations of Data | |
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| Specifications in Terms of the Sensitivity Function | |
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| Time Delay | |
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| Obtaining a Pole-Zero Model from Frequency-Response Data | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| State-Space Design | |
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| Chapter Overview | |
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| A Perspective on State-Space Design | |
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| Advantages of State Space | |
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| Analysis of the State Equations | |
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| Control-Law Design for Full-State Feedback | |
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| Selection of Pole Locations for Good Design | |
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| Estimator Design | |
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| Compensator Design: Combined Control Law and Estimator | |
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| Loop Transfer Recovery (LTR) | |
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| Introduction of the Reference Input with the Estimator | |
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| Integral Control and Robust Tracking | |
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| Direct Design with Rational Transfer Functions | |
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| Design for Systems with Pure Time Delay | |
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| Lyapunov Stability | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Digital Control | |
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| Chapter Overview | |
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| A Perspective on Digital Control | |
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| Digitization | |
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| Dynamic Analysis of Discrete Systems | |
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| Design by Emulation | |
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| Discrete Design | |
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| State-Space Design Methods | |
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| Hardware Characteristics | |
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| Word-Size Effects | |
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| Sample-Rate Selection | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Control-System Design: Principles and Case Studies | |
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| Chapter Overview | |
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| A Perspective on Design Principles | |
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| An Outline of Control Systems Design | |
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| Design of a Satellite's Attitude Control | |
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| Lateral and Longitudinal Control of a Boeing 747 | |
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| Control of the Fuel-Air Ratio in an Automotive Engine | |
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| Control of a Digital Tape Transport | |
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| Control of the Read/Write Head Assembly of a Hard Disk | |
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| Control of Rapid Thermal Processing (RTP) Systems in Semiconductor Wafer Manufacturing | |
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| Summary | |
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| Review Questions | |
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| Problems | |
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| Laplace Transforms | |
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| The L_ Laplace Transform | |
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| A Review of Complex Variables | |
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| Definition of a Complex Number | |
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| Algebraic Manipulations | |
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| Graphical Evaluation of Magnitude and Phase | |
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| Differentiation and Integration | |
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| Euler's Relations | |
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| Analytic Functions | |
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| Cauchy's Theorem | |
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| Singularities and Residues | |
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| Residue Theorem | |
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| The Argument Principle | |
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| Summary of Matrix Theory | |
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| Matrix Definitions | |
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| Elementary Operations on Matrices | |
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| Trace | |
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| Transpose | |
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| Determinant and Matrix Inverse | |
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| Properties of the Determinant | |
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| Inverse of Block Triangular Matrices | |
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| Special Matrices | |
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| Rank | |
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| Characteristic Polynomial | |
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| Cayley-Hamilton Theorem | |
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| Eigenvalues and Eigenvectors | |
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| Similarity Transformations | |
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| Matrix Exponential | |
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| Fundamental Subspaces | |
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| Singular-Value Decomposition | |
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| Positive Definite Matrices | |
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| Matrix Identity | |
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| Controllability and Observability | |
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| Controllability | |
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| Observability | |
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| Ackermann's Formula for Pole Placement | |
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| Matlab Commands | |
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| Solutions to Review Questions | |
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| References | |
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| Index | |