Design of Modern Control Systems - IET Digital Library

Contents
Preface
1 State-space theory 1
1.1 Introduction 1
1.2 Controlability and observability 2
1.3 Standard forms
1.4 Calculation of transfer function
matrix 9
1.5 Realizations 11
1.6 Inverse Systems 14
References 15
Problems 17
2 Complex variable methods in feedback
Systems analysis and design 18
2.1 Introduction 18
2.2 Generalized Nyquist and root-locus
diagrams 19
2.2.1 Characteristic frequencies and
characteristic gains 23
2.2.2 Generalized Nyquist diagrams and
generalized Nyquist stability
criterion 24
2.2.3 Multivariable root loci 25
2.2.4 Conformal nature of mapping between
frequency and gain 25
2.3 Zeros 27
2.3.1 Restriction of operator in domain
and range 29
2.3.2 Spectral characterisation of Zeros 30
2.3.3 Finite zeros when D is non-zero 30
2.4 Bi-linear transformation of
frequency and gain variables 31
2.5 Geometric theory of root locus and
Nyquist diagrams 32
2.6 Angles of arrival at zeros and
angles of departure from poles 35
2.7 Properties of Nyquist and root locus
diagrams for optimal feedback systems 37
2.8 Design techniques 38
2.9 Conclusions 40
References 41