Readers who found difficulty in understanding the materials text is to bridge the gap existing between classical and
n classical and ••.
presented in these chapters should refer to the above-mentioned
books. On the other hand, those who are familiar with those
books, can go directly to chapter 5. The second part of the
book (chapters 5-8) discusses the topics of approximation
methods of nonlinear differential equations. In chapter 5, the
Bubnov-Galerkin method is introduced and compared with the
straightforward perturbation method. Its application to a
linear system results in the method of moments. Also, its
application to nonlinear systems along with the Newton Raphson
method and Lagrange expansion are explained briefly. Chapter
6 presents the problems of finding equations which are satis-
fied by a given function. In this connection, various classical
approximation methods are reviewed from different standpoints.
Among them are orthogonal polynomials, polynomial approxi-
mation, Riccati approximation, approximation by exponentials,
and mean square approximation. Some other important aspects
of approximations such as the degree of approximation, im-
provement of approximation and reduction of computer storage
are also described in this chapter. Chapter 7 is devoted to the
Rayleigh-Ritz method, where the case of quadratic functionals
are studied primarily. Application of this method is also seen
in the next chapter under the title of the Sturm-Liouville theory.
As a part of the Sturm-Liouville theorem, some problems of the
determination of an unknown parameter as well as an unknown
function are briefly introduced.
In the main part of this book, emphasis was placed by the
author on the closure theory of approximation methods for
solving nonlinear differential equations. To show the idea and
methods of approximation, ordinary differential equations such
as Van der Pole, Mathew and nonlinear spring type ordinary
differential equations, are extensively adopted as examples.
These methods are not limited to these particular ordinary
differential equations, but are also applicable to partial differ-
ential equations.
The author's style of writing is clear and always direct to
the point but in some instances the descriptions are too simpli-
fied. Some sections are too short for adequate coverage of the
topics and sometimes the author uses simple examples for ex-
planations which makes it difficult to understand the general
concepts, but mostly these shortcomings are overcome by the
ample number of references given at the end of each chapter.
Working the problems given at the end of each section is very
helpful for the reader to understand and to extend the ideas.
This book covers a spectrum of approximation methods to
solve nonlinear differential equations. Many of the techniques
presented have either been buried in the literature or are so
newly developed that they are available only in research papers.
In a word, this book by Professor R. E . Bellman furnishes an
excellent introduction to these difficult subjects.
MODERN CONTROL SYSTEM THEORY AND APPLICATION, by S.
M. Shinners, Addison-Wesley, 1972, 500 pp.
REVIEWED BY Jl C. WANG12
T H I S book is primarily intended as a text for a first course in
control engineering at the senior college level. The word "Mod-
ern" in the title might be misleading because the goal of this
12
Profesaor, Department of Mechanical Engineering, California State Uni-
versity, San Jose, Calif.
104 / M A R C H 19 7 3
Copyright © 1973 by ASME
fundamental concepts of modern control theory. Durin.r .,
last few years many books have been published which are
tended to update the conventional undergraduate textboo-.; i,.
introducing some basic state-space control concepts. The :n, '•
noticeable difference between Shinners' and others is tl,.-., ;
this book the modern topics are interlaced with the classic? I i-„,
terial, and extensive related references and practical enginei-i1|.»
control systems are provided in each chapter. This book ov!.,"
linear, nonlinear, and basic optimum control systems. Saim]..,!
data and stochastic control theories have not been include' 1. h
introduces the following modern control topics: (1) State—j>.u,.
formulation and analysis of dynamic systems. (2) Linear SUUK.
variables feedback control system design. (3) Liapunov staUiiu.
criterion, Popov's stability method, the generalized circle mei ],,u"j
(4) Dynamic programming and Maximum principle. This IH,I,|.-
Downloaded from http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/95/1/104/5609661/104_1.pdf by guest on 06 September 2023
also provides the following working digital computer propiain
(1) Solution of state variable equation and evaluation of in.
transition matrix. (2) Computation of the differential equal inn,
(3) Techniques for obtaining the open-loop and closed-l'inu
frequency response. (4) Techniques for plotting the root-! ;-,
(5) Computation of the describing function.
Chapter 1 is introductory, including practical example :„
convey the concepts of different types of control systems :i:i,i
control. Chapter 2 reviews Fourier and Laplace transforms-.! >r,|,_
matrix algebra, Mason's signal flow diagram, analog cominiii-,
simulation diagram, and state-space concept. The dynu,,;,
systems introduced in this chapter are all with real poles. Tlu
reader is expected to be familiar with Inverse Laplace trin..
formation for complex poles, and also analog computer ohvuii,.
In Chapter 3, electrical and mechanical dynamic system- :n,.
heavily used to motivate as well as to present concepts -unl
techniques of state-space and transfer function represent:^ in:,
of control elements. Chapter 4 focuses attention on the -=tt-|i
response of second order system. Chapter 5 considers seve:ul
classical performance criteria together with more reccn1 ap-
proaches. Stability and sensitivity are briefly mentieied.
Transient analysis and error coefficients are discussed. Veikil
comparison of popular performance indices are stated. Cla--ii :il
stability analysis; Routh Hurwitz, Nyquist diagram, ll'uli-
diagram, Nichols chart and the root-locus method, are disc i—=e.i
in Chapter 6. Chapter 7 covers classical methods for linear
feedback system design based on the stability concepts ih'io-
duced in Chapter 6. Linear state-variable feedback system de-
sign for a single input control system is presented. Chapter ."I i-
devoted to nonlinear systems. Describing functions of scver.il
common nonlinear elements, the existence of a limit cycle :iui
compensation of nonlinear system using describing function.- ;ir-
discussed. The phase plane method is also included. Liap.imiv
methods, Popov's method and the generalized circle criterior su-1
covered for stability analysis. The final chapter is eii'i:li-l
"Optimal Control Theory and Application," where the followiiu-'
materials are presented at an introductory level: controlltibi'ilv.
observability, calculus of variations, dynamic programmi!'-'-
and the maximum principle.
In conclusion, this is an easily understandable book. One l'-'ll:
clearly proceed from the first to the last chapter. However,
proportional, derivative and integral controls modes are "i':"'
pletely ignored. Also, control system design which conuii'1"
pure dead-time elements are not mentioned at all. I t is dcsinu"'''
to provide multi-input-output control systems in order to '"•'""
onstrate the potential use of state-space approach. Dis'W1"
dynamic systems may also be-introduced for this level of teM-
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