Preface |
Introduction / 1: |
The process of control system design / 1.1: |
The control problem / 1.2: |
Transfer functions / 1.3: |
Scaling / 1.4: |
Deriving linear models / 1.5: |
Notation / 1.6: |
Classical Feedback Control / 2: |
Frequency response / 2.1: |
Feedback control / 2.2: |
Closed-loop stability / 2.3: |
Evaluating closed-loop performance / 2.4: |
Controller design / 2.5: |
Loop shaping / 2.6: |
IMC design procedure and PID control for stable plants / 2.7: |
Shaping closed-loop transfer functions / 2.8: |
Conclusion / 2.9: |
Introduction to Multivariable Control / 3: |
Transfer functions for MIMO systems / 3.1: |
Multivariable frequency response analysis / 3.3: |
Relative Gain Array(RGA) / 3.4: |
Control of multivariable plants / 3.5: |
Introduction to multivariable RHP-zeros / 3.6: |
Introduction to MIMO robustness / 3.7: |
General control problem formulation / 3.8: |
Additional exercises / 3.9: |
Elements of Linear System Theory / 3.10: |
System descriptions / 4.1: |
State controllability and state observability / 4.2: |
Stability / 4.3: |
Poles / 4.4: |
Zeros / 4.5: |
Some important remarks on poles and zeros / 4.6: |
Internal stability of feedback systems / 4.7: |
Stabilizing controllers / 4.8: |
Stability analysis in the frequency domain / 4.9: |
System norms / 4.10: |
Limitations on Performance in Siso Systems / 4.11: |
Input-Output Controllability / 5.1: |
Fundamental limitations on sensitivity / 5.2: |
Fundamental limitations: Bounds on peaks / 5.3: |
Perfect control and plant inversion / 5.4: |
Ideal ISE optimal control / 5.5: |
Limitations imposed by time delays / 5.6: |
Limitations imposed by RHP-zeros / 5.7: |
Limitations imposed b y phase lag / 5.8: |
Limitations imposed by unstable(RHP) poles / 5.9: |
Performance requirements imposed by disturbances and commands / 5.10: |
Limitations imposed by input constraints / 5.11: |
Limitations imposed by uncertainty / 5.12: |
Summary: Controllability analysis with feedback control / 5.13: |
Summary: Controllability analysis with feed forward control / 5.14: |
Applications of controllability analysis / 5.15: |
Limitations on Performance in Mimo Systems / 5.16: |
Functional controllability / 6.1: |
Performance requirements imposed by disturbances / 6.5: |
MIMO Input-output controllability / 6.9: |
Uncertainty and Robustness for Siso Systems / 6.12: |
Introduction to robustness / 7.1: |
Representing uncertainty / 7.2: |
Parametric uncertainty / 7.3: |
Representing uncertainty in the frequency domain / 7.4: |
SISO Robust stability / 7.5: |
SISO Robust performance / 7.6: |
Robust Stability and Performance Analysis for Mimosystems / 7.7: |
General control configuration with uncertainty / 8.1: |
Obtaining -, - and - / 8.2: |
Definitions of robust stability and robust performance / 8.4: |
Robust stability of the---structure / 8.5: |
RS for / 8.6: |
Preface |
Introduction / 1: |
The process of control system design / 1.1: |