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PRT ay Te re Seon Crary Serco a reel et ot a ere © Shillessesament exercises at the conclusion of most sections test your ability to perform the anolyas and cengn discussed In addition, the bext provides numeras in-chaph ee ae MATLAB’s graphical use: and jhe SISO Dasign Tool} See Oe Pn Re ee Mee altel tr Ce eet e CR eer ect » Exparima Pm een exign Tool of the and of mosi chopiars give you the opportunity to expand your knowledge by parform: (oe eR eee ae * An occompanying CDROM provides valuable additional material, weh 04 stand-alon Se Cae Rc Mor i eae eran LAB, odditiona| appendices, asd compel sclutions to shillossessmen! exercises ce en eC COL eae Rit R ee ace) slep-by-step through over 150 end of-chopte: problems and sk ee CL WILEY www. wiley.com/college/niseEXECUTIVE EDITOR Bill Zobrist ASSISTANT ELATOR, ‘Catherine Mesgen SENIOR MARKETING MANAGER Katherme Hephurn RENTOR PRODUCTION EDITOR Pairiela McFadden DESIGN DIRECTOR ‘Harry Nolan PRODUCTION MANAGEMENT SERVICES Puthliratins Serudrs (Cover Fhoxo. 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E-Mail. PERMREQ@ WILEV.COM To onder bonks of for citomer servuce please call |-2000-CALL WILEY (225-5545). Library of Congrest Cauninging:-in-Publicetion Dota: Nise, Nerman 5 ‘Control Systems Engmeenng/Morman §. Nise —4" ed, nce bikllegraphecal references. 1. Antumanc contra, 2, Systems engineering L Tile. TR.Ni NO 6298021 ISBN 0-47) 4457.0 ‘WIE ISBN @-471-45243.2 Prittedin the Unined States of Amersca WORTES AZTo my wife, Ellen; sons, Benjamin and Alan; daughter, Sharon; and 10 the memory of my mother-in-love, Bobby Manashil, whase love of reading has Been an inspiration.Key Features Preface ‘This book introduces students to the theory and practice of control systems engineering. The text emphasizes the practical application of the subject tn the analysis and design of feedback systems, The study of control systoms engineering is esscatial fur students pursuing degrees in electrical, mechanical, aerespace, ur chemical engineering. Control systems are found in a broad range of applications within these disciplines, from aircraft gnd spacecraft to robots and process control systems. Contra! Systeris Engineering is suitable for upper division college und uni- versity engineering students and for those who wish to niaster the subject maiter Uirough self-study: The student using this text should have completed typical lower- division courses in physics and mathematics through differential equations. Other required background material. including Laplace transforms and lincar algebra, is incorporated in the text, either within chapter discussions or separately in the ap Rendixes orion an secompanying CD-ROM. This review material can be ouilted ‘without Joss of continuity if he student does ‘not require it, The key festures of this fourth edition are ® Standardized chapter organization = Qualitative and quantitative explanations © Examples, Skill-Assessmerd Exercises, and Case Studies throughout the text = Control Solutions Powered by fustAsk!© = Cyber Exploration Laboratory experiinenis Abundant illustrations 1 Norcerous end-of-chapter problems © Emphasis on design = Flexible coverage& Fonphasis on computer-aided analysis and deste m Kcons identifying major topics = CD-ROM containing additional maternal Let ns took st each feature in move detail. ‘Standardized Chapter Organization Each chapter begins with a list of chapter objectives, followed by a list of case study objectives that relste the chapter ebjectives to specific student performance in solving @ practical case study problem, such as an antenna azimuth position control system, ‘Topics are then divided into clearly numbered and labeled sections containing explanations. examples, and, where appropiate, skill-assessment exercises with snswers, These numbered sections are followed by one or more case studies, as willl be outlined in a few paragraphs. Each chapter ends with a brief suimmary, several Feview questions requiring short answers, and a set of homework problems, Qualitative and Quantitative Explanations Explanations are clear and complete and, where appropriate, include a brief review of required background material, ‘Topics build upon and support one another in a logical fashion. Groundwork for new concepts and terminology is carefully laid 10 Avoid overwhelming the student and to facilitate self-study. Although quantitative solutions are obviously inportant, a qualitative or intu- itive understanding of problems and methods of solution is vital to producing the insight required 10 develop sound designs. Therefore, whenever possible, new con- cepts are discussed from a qualitative perspective before quantitative analysis and design are addressed. For example, in Chapter 8 the student can simply look at ‘the root locus and describe qualitatively the changes in transient response that will occur as system parameter, such as gain, is varied. This ability is developed with the help of a fow simple ecauaticns fram Mhapter 4. Examples, Skill- Assessment Exercises, and Case Studies Explanations are clearly illustrated by means of numerous numbered and Inheled Examples throughout the text, Where appropriate, a section conctudes with Skill» Assessinent Exercises, These are computation drills, most with answers, that test comprehension and pravide immediate Feedback, Complete solutions can be found on the accompanying CD-ROM. Broader examples in the form of Case Studies can be found after the last num- ‘ered section of every chapter. with the exception of Chapter |. These ease studies ae practical application problems that demonstrate the concepts introduced in the chapter. Each case stuely concludes with a “Challenge” problem that students may work im order to test their understanding of the matcrial. ‘One of the cuse studies. conceming an antenna sziruth position contral syster, is carried throughout the back. The purpose is (a illustrate the application of new material in each chaptertothe same physical system, thus highlighting thecontinity ofthe design process, Another, ttorechallenging case study. involvinganUnsticnned Eree-Swimming Submersible Vehicle, isdeveloped ower the course uf five chapters.wo Preface ‘Control Solutions Powered by Justsk! ‘Control Solutions is. a Website that is essentially aw tutor serving the needs of both the student und the professor. A total of over 150 end-of-chupter problems and Skill-Assessment Exercises from the book will have step-by-step solutions. These problems are worked in detail and explanations of every facet of tbe solutions até Provided, As such. this Web site is @ valuable tool in the use of this book. This site is password protected and can be accessed by purchasing Te Control Solutions (Companion. ISBN 047483885. This companion supplies you with an access code to the Contral Solutions Web site as well as instructions on how to use the Web site. The Controf Suladions Companion can be purchased on the book companion Web site, wwvewiley.comicollege/nise. Cyber Exploration Laboratory Experiments ‘Computer experiments using MATLAB. Simulink, and the Control System Fool- box are found af the end of the Problems section of Chapters 4 through 13 under the subheading Cyber Exploration Laboratory. The experiments allow the reader to werify the concepts covered in the chapter via simulation. The reader also can ‘change parameters and perform “what if” exploration to gain insight into the effect ‘of parameter and configuration changes. The experiments are writen with stated ‘Objectives. Minimum required software packages, aswell us Prelab, Lab, andl Post- Tab tasks and questions. Thus, the experiments may be used for a Isborstory course that accompanies the class, Abondant Ihustrations The ability to visualize concepts and processes is critical to the student's under- standing. For this reasan approximately 750 photes, diagrants. graphs, and tables ‘appear throughout the book to illustrate the topics under discussian. Nutmerous End-of-Chapter Problems Esch chapter ends with a variety of homework problems that allow students «0 test their understanding of the material presented in the chapter, Probletis vary indegree of difficulty and complexity. and most chapters include seweral procticsl, real-life problems to help maintain students’ motivation. Also, the homework pob- Jems contain progressive analysis and design problem that uses the sume practical syMem to demonstrate the concepts af each chapter. Emphasis on Design ‘This textbook places a heavy emphasis on design. Chapters 8, 9, 11, 12, und 13 focus primarily on design. But even in chapters that emphasize anafysis, simple design cxamples are included wherever bn Throughout the book, design examples involving physical systems are ident fied bya Bisel icon. End-of chapter problems that involve the design of physical systems are included under the separate heading Design Problems and also, in chapters covering design, under the heading Progressive Analysis andPreface vil Ibesign Frobtem. In these examples and problems, a desired response rs specined, and the student must evaluate certain systern parameters, such as gain, or specify a system configuration along with parameter values. In addition, the text inc[uelex Numerous design examples and problems (not identified by en icon) that involve purely mathematical systems, Because visualization is so vital to understanding design, this text carefully familiar and indirect phase margin is carefully related tn the more direct and Famil- iar percent overshoot before being used as a design specification. For each general type of design problem introduced in the text, 2 methodology for sulving the problem Is prescrted—in many cases In the form of a step-by-step procedure, beginning with statement of design objectives, Exatple problems serve ta demonstrate the methodology by following the procedure, making simpli- fying assumptions, snd presenting the results of the design in tables or plots that compare the performance of Uke original system to that of the improved system, ‘This comparison also serves asa check on the simplifying. assumptions, Transient response chesign topics are Covered comprehensively in the text, They include = Design via gain adjustment using the root locus Design of compensation and controllers via the root locus = Design via gain adjustment using smesoidal frequency response methods Design of compensation via sinusoidal frequency respeatse methods Design of controllers in state space using pule-placement techniques Design of observers in state space using pole-placement techniques m= Design of digital control systems via gain adjustment on the root locus Designo digital control system compensation via s plane design and the Tustin transformation Steady-state error design js Coveréd comprehensively in this textbook and includes = Gain adjustment w= Desigi of compensation via the root locus m= Design of compensation vis sinusoidal frequency response methods = Design of imegral control in state space Finally, the design of gam to yield stability is covered from the following perspectives: wm Rovth-Hurwitz criterion im Root focus m Nyquist criterion = Bode plotsPreface: Flexible Coverage ‘The material in this book can be adapted) for a one-quarter or a one-semester course, The organization is Flexible, allowing the instructor Wo select the ‘Material Urat best suits the requirements and time: constraints of the class, ‘Throughout the book state-space methods are presented slong with the classi- cal approach, Chapters and sections (as well as examples, exercises, review ques- tors. and problems) tat cover state space ure masked by a tate ipa) icon and can be omitted without any loss of cotilinuity, Those wishing to add a basic introduction to state-space modeling can include ‘Chapter 3 in the syllabus, Tn a one-semester course, the discussions of stule-xpaco analysis in Chapters 4, 5.6, und 7,8 Well as state-space design in Chapter 12, can be covered along with the classical approach, Another option is to teach state space separately by gather- ing the wppropriate chapters and sections marked with the _ Miata Bpeee icon into a single unit thet follows the classical approach. In a one-quarter course, Chap ter 13, “Digital Control Systents,” could be eliminated, Emphasis on Computer-Aided Analysis und Design Controt systems problems, particularly unalysis and design problems using the root Tocuis, can be tedious, since their solution involves trisl and ercor To solve these Problems, students should be given access to computers or programmable caleu- Iators configured with appropriate softwere, In this fourth edition, MATLAB®! continues to be integroted into the text es an qpdionall feature, Many problems in this text can he solved with either a computer or w hand- beld, programmable calculator. For example, students cun use the programmable calculator to (1) determine whether a point on the ssplane is also on the root Io~ cus, (2) find magninude and phase frequency response data for Nyquist and Bode diagrams, ané (3) convert between the following representations ef a second-order system; Pole location in polar coordinares Pole location in Cartesian coordinates Characteristic potynormmat Natural frequency and damping ratio Settling time and percent overshoot Peak time and percent overshoot Settling time and peak time Handheld calculatars have the advantage of easy accensibality for hemework and exams. Please consult Appendix G, located on the caclosed CD-ROM, for a dis- ‘cussion of computational aids that can be adapted to handheld calculators, Personal computers are better suited for more computation intensive applics- tions, such 25 plotting time responses, root loci, and frequency response curves, 8 well as finding state-transition matrices. These computers also Bive the student "MATLAB is # registered trademark of The MathWorks, inc.Preface ix a real-world environment in wttich to analyze and design control systems. Those sol using MATLAB can write their own programs or use ofher programs, such as Progam CC, Please consult Appendix G, on the accompanying CD-ROM, for a discussion of computational aids that can be adapted for use om cormputers that do not have MATLAB installed. Withaut access to computers or programmable catculators, students cannot obtain meaningful analysis andl design results and the learning. experience will tbe limited. Tcoas Identifying Major Topies Several icons identify coverage and optional material. The icons are sumumarized as follows: ‘The Control Solutions icon identifies problems included on the Control So- lutions Weh site powered by JustAsk! These problems are worked in detail and explanations of every facet of the solution are provided. ‘The MATLAR icon identifies MATI_AB discrssinns, examples, exereises, and problems, MATLAB coverage is provided as an enhancement and is not required to use the text, icon identities Simulink discussions, examples, exercises, and coverage is provided as an enhancement and is not required to ‘The GUI Too! icon identifies MATLAB GUI Toots discussions, examples, ex- excises, and problems, ‘The discussion of the tooks, which includes the LTT Viewer, the Simulink LT] Viewer, and the SISO Design Tool. is provided as an enhance: ment and is mot required to use the text ‘The Symbolic Math icon idemifies Symbolic Math Toolbox discussions, examples. exercises, and problems. Symbolic Math Toolbox coverage is provided as an enhancement and is not required to use the text, ‘The State Space icon highlights state-space discussions, exumples, exercises, and problems, State-space material is options! and can be omitted without loss of continuity,