Feedback Systems: An Introduction for Scientists and Engineers by Karl Johan Astrom, Richard M. Murray

Preface     ix
Introduction     1
What Is Feedback?     1
What Is Control?     3
Feedback Examples     5
Feedback Properties     17
Simple Forms of Feedback     23
Further Reading     25
Exercises     25
System Modeling     27
Modeling Concepts     27
State Space Models     34
Modeling Methodology     44
Modeling Examples     51
Further Reading     61
Exercises     61
Examples     65
Cruise Control     65
Bicycle Dynamics     69
Operational Amplifier Circuits     71
Computing Systems and Networks     75
Atomic Force Microscopy     81
Drug Administration     84
Population Dynamics     89
Exercises     91
Dynamic Behavior     95
Solving Differential Equations     95
Qualitative Analysis     98
Stability     102
Lyapunov Stability Analysis     110
Parametric and Nonlocal Behavior     120
Further Reading     126
Exercises     126
Linear Systems     131
Basic Definitions     131
The Matrix Exponential     136
Input/Output Response     145
Linearization     158
Further Reading     163
Exercises     164
State Feedback     167
Reachability     167
Stabilization by State Feedback     175
State Feedback Design     183
Integral Action     195
Further Reading     197
Exercises     197
Output Feedback     201
Observability     201
State Estimation     206
Control Using Estimated State     211
Kalman Filtering     215
A General Controller Structure     219
Further Reading     226
Exercises     226
Transfer Functions     229
Frequency Domain Modeling     229
Derivation of the Transfer Function     231
Block Diagrams and Transfer Functions     242
The Bode Plot     250
Laplace Transforms     259
Further Reading     262
Exercises     262
Frequency Domain Analysis     267
The Loop Transfer Function     267
The Nyquist Criterion     270
Stability Margins     278
Bode's Relations and Minimum Phase Systems     283
Generalized Notions of Gain and Phase     285
Further Reading     290
Exercises     290
PID Control     293
Basic Control Functions     293
Simple Controllers for Complex Systems     298
PID Tuning     302
Integrator Windup     306
Implementation     308
Further Reading     312
Exercises     313
Frequency Domain Design     315
Sensitivity Functions     315
Feedforward Design     319
Performance Specifications     322
Feedback Design via Loop Shaping     326
Fundamental Limitations     331
Design Example     340
Further Reading     343
Exercises     344
Robust Performance     347
Modeling Uncertainty     347
Stability in the Presence of Uncertainty     352
Performance in the Presence of Uncertainty     358
Robust Pole Placement      361
Design for Robust Performance     369
Further Reading     374
Exercises     374
Bibliography     377
Index     387