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1 1 δ(t)
1
2 1(t)
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4 t2
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5 t3
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6 tm
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9 t e
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14 (1 − at)e−at
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Chronological History of Feedback Control
Driverless cars
Drones
GPS
Unmanned aircraft
High precision disk drive control
Maximum principle
Dynamic programming
Numerical optimization
Optimal filtering
Sampled data systems
Root locus
Nyquist stability
Frequency-response tools
Feedback amplifier
Autopilot
Fly-ball governor
Incubator
1600s 1700s 1800s 1910 1920 1930 1940 1950 1960 1970 1980 1990 2000 2010 2020
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Feedback Control
of Dynamic Systems
Eighth Edition
Global Edition
Gene F. Franklin
Stanford University
J. David Powell
Stanford University
Abbas Emami-Naeini
SC Solutions, Inc.
Credits and acknowledgments borrowed from other sources and reproduced, with permission, in this textbook
appear on appropriate page within text.
Matlab and Simulink are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA.
c Pearson Education Limited, 2020
The rights of Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini to be identified as the authors of this work have
been asserted by them in accordance with the Copyright, Designs and Patents Act 1988.
Authorized adaptation from the United States edition, entitled Feedback Control of Dynamic Systems, 8th Edition, ISBN
978-0-13-468571-7 by Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, published by Pearson Education
c 2019.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form
or by any means, electronic, mechanical, photocopying, recording or otherwise, without either the prior written permission
of the publisher or a license permitting restricted copying in the United Kingdom issued by the Copyright Licensing Agency
Ltd, Saffron House, 6-10 Kirby Street, London EC1N 8TS.
All trademarks used herein are the property of their respective owners. The use of any trademark in this text does not
vest in the author or publisher any trademark ownership rights in such trademarks, nor does the use of such trademarks
imply any affiliation with or endorsement of this book by such owners. For information regarding permissions, request
forms, and the appropriate contacts within the Pearson Education Global Rights and Permissions department, please visit
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This eBook is a standalone product and may or may not include all assets that were part of the print version. It also does
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Typeset by Integra
To Valerie, Daisy, Annika, Davenport, Malahat, Sheila, Nima, and to
the memory of Gene
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Contents
Preface 15
2 Dynamic Models 46
A Perspective on Dynamic Models 46
Chapter Overview 47
2.1 Dynamics of Mechanical Systems 47
2.1.1 Translational Motion 47
2.1.2 Rotational Motion 54
2.1.3 Combined Rotation and Translation 65
2.1.4 Complex Mechanical Systems (W)** 68
2.1.5 Distributed Parameter Systems 68
2.1.6 Summary: Developing Equations of Motion
for Rigid Bodies 70
2.2 Models of Electric Circuits 71
2.3 Models of Electromechanical Systems 76
2.3.1 Loudspeakers 76
2.3.2 Motors 78
2.3.3 Gears 82
2.4 Heat and Fluid-Flow Models 83
2.4.1 Heat Flow 84
2.4.2 Incompressible Fluid Flow 88
2.5 Historical Perspective 95
Summary 98
Review Questions 98
Problems 99
**Sections with (W) indicates that additional material is located on the web at
www.pearsonglobaleditions.com.
7
8 Contents
6 The Frequency-Response
Design Method 353
A Perspective on the Frequency-Response Design Method 353
Chapter Overview 354
6.1 Frequency Response 354
6.1.1 Bode Plot Techniques 362
6.1.2 Steady-State Errors 374
6.2 Neutral Stability 376
6.3 The Nyquist Stability Criterion 379
6.3.1 The Argument Principle 379
6.3.2 Application of The Argument Principle
to Control Design 380
6.4 Stability Margins 393
6.5 Bode’s Gain–Phase Relationship 402
6.6 Closed-Loop Frequency Response 407
6.7 Compensation 408
6.7.1 PD Compensation 409
6.7.2 Lead Compensation (W) 410
6.7.3 PI Compensation 420
6.7.4 Lag Compensation 420
6.7.5 PID Compensation 426
6.7.6 Design Considerations 433
6.7.7 Specifications in Terms of the Sensitivity
Function 435
6.7.8 Limitations on Design in Terms of the Sensitivity
Function 440
6.8 Time Delay 443
6.8.1 Time Delay via the Nyquist Diagram (W) 445
6.9 Alternative Presentation of Data 445
6.9.1 Nichols Chart 445
6.9.2 The Inverse Nyquist Diagram (W) 450
6.10 Historical Perspective 450
Summary 451
Review Questions 453
Problems 454
Bibliography 903
Index 912
By Daniel Gorrie.