CONTENTS

Chapter 1 Linear system design

1.1 Introduction to design using compensators 1

1.2 Lag compensator 5
1.3 Lead compensator 34
1.4 Lag-Lead compensator 63
1.5 PI, PD and PID controllers 83
1.6 Feedback compensation 109
1.7 Short questions and answers 127
1.8 Exercise 137

Chapter 2 Nonlinear systems

2.1 Introduction to nonlinear sytems 141

2.2 Describing function 150
2.3 Describing function of dead-zone and saturation non-linearity 151
2.4 Describing function of saturation nonlinearity 156
2.5 Describing function of dead-zone nonlinearity 159
2.6 Describing function of relay with dead-zone and hysteresis 162
2.7 Describing function of backlash nonlinearity 167
2.8 Describing function analysis of nonlinear systems 172
2.9 Review of polar plot and Nichols plot 175
2.10 Phase plane and phase trajectories 193
2.11 Short questions and answers 215
2.12 Exercise 225
Chapter 3 Sampled data control systems

3.1 Introduction 229

3.2 Sampling process 231
3.3 Analysis of sampling process in frequency domain 232
3.4 Reconstruction of sampled signals using hold circuits 234
3.5 Discrete sequence (Discrete time signal) 235
3.6 z-Transform 240
3.7 Linear discrete time systems 268
3.8 Transfer function of LDS system (Pulse Transfer Function) 271
3.9 Analysis of sampler and zero-order hold 277
3.10 Analysis of system with impulse sampling 278
3.11 Analysis of sampled data control system using z-transform 284
3.12 The z and s-domain relationship 295
3.13 Stability analysis of sampled data control systems 296
3.14 Short question and answers 305
3.15 Exercises 315

Chapter 4 State space analysis

4.1 Introduction 319

4.2 State space formulation 320
4.3 State model of linear system 321
4.4 State diagram 323
4.5 State space representation using physical variables 325
4.6 State space representation using phase variables 346
4.7 State space representation using canonical variables 360
4.8 Short questions and answers 403
4.9 Exercises 417
Chapter 5 Analysis and design of control system in state space

5.1 Definitions involving matrices 421

5.2 Eigenvalues and eigenvectors 422
5.3 Similarity transformation 424
5.4 Cayley-Hamilton theorem 426
5.5 Transformation of state model 436
5.6 Concepts of controllability and observability 449
5.7 Controllable phase variable form of state model 460
5.8 Control system design via pole placement by state feedback 470
5.9 Obervable phase variable form of state model 489
5.10 State observers 494
5.11 Short questions and answers 504
5.12 Exercises 515