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| Preface | |
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| Introduction | |
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| The process of control system design | |
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| The control problem | |
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| Transfer functions | |
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| Scaling | |
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| Deriving linear models | |
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| Notation | |
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| Classical Feedback Control | |
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| Frequency response | |
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| Feedback control | |
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| Closed-loop stability | |
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| Evaluating closed-loop performance | |
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| Controller design | |
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| Loop shaping | |
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| IMC design procedure and PID control for stable plants | |
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| Shaping closed-loop transfer functions | |
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| Conclusion | |
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| Introduction to Multivariable Control | |
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| Introduction | |
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| Transfer functions for MIMO systems | |
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| Multivariable frequency response analysis | |
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| Relative Gain Array(RGA) | |
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| Control of multivariable plants | |
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| Introduction to multivariable RHP-zeros | |
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| Introduction to MIMO robustness | |
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| General control problem formulation | |
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| Additional exercises | |
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| Conclusion | |
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| Elements of Linear System Theory | |
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| System descriptions | |
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| State controllability and state observability | |
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| Stability | |
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| Poles | |
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| Zeros | |
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| Some important remarks on poles and zeros | |
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| Internal stability of feedback systems | |
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| Stabilizing controllers | |
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| Stability analysis in the frequency domain | |
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| System norms | |
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| Conclusion | |
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| Limitations on Performance in Siso Systems | |
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| Input-Output Controllability | |
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| Fundamental limitations on sensitivity | |
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| Fundamental limitations: Bounds on peaks | |
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| Perfect control and plant inversion | |
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| Ideal ISE optimal control | |
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| Limitations imposed by time delays | |
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| Limitations imposed by RHP-zeros | |
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| Limitations imposed b y phase lag | |
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| Limitations imposed by unstable(RHP) poles | |
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| Performance requirements imposed by disturbances and commands | |
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| Limitations imposed by input constraints | |
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| Limitations imposed by uncertainty | |
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| Summary: Controllability analysis with feedback control | |
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| Summary: Controllability analysis with feed forward control | |
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| Applications of controllability analysis | |
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| Conclusion | |
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| Limitations on Performance in Mimo Systems | |
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| Introduction | |
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| Fundamental limitations on sensitivity | |
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| Fundamental limitations: Bounds on peaks | |
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| Functional controllability | |
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| Limitations imposed by time delays | |
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| Limitations imposed by RHP-zeros | |
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| Limitations imposed by unstable(RHP) poles | |
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| Performance requirements imposed by disturbances | |
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| Limitations imposed by input constraints | |
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| Limitations imposed by uncertainty | |
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| MIMO Input-output controllability | |
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| Conclusion | |
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| Uncertainty and Robustness for Siso Systems | |
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| Introduction to robustness | |
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| Representing uncertainty | |
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| Parametric uncertainty | |
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| Representing uncertainty in the frequency domain | |
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| SISO Robust stability | |
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| SISO Robust performance | |
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| Additional exercises | |
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| Conclusion | |
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| Robust Stability and Performance Analysis for Mimosystems | |
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| General control configuration with uncertainty | |
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| Representing uncertainty | |
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| Obtaining -, - and - | |
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| Definitions of robust stability and robust performance | |
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| Robust stability of the---structure | |
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| RS for | |