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Design Examples and Design Problems (DP) CHAPTER I Example Example Example Example Example Example CDP1.1 DP1.1 DP 1.2 DP 1.3 DPI.4 DP1.5 DP1.6 DPI.7 Hybrid Fuel Vehicles Wind Power Embedded Computers Rotating Disk Speed Control Insulin Delivery Control System Disk Drive Read System Traction Drive Motor Control Automobile Noise Control Automobile Cruise Control Dairy Farm Automation Welder Control Automobile Traction Control Hubble Telescope Vibration Nanorobotics in Medicine PAGE 21 22 23 25 27 28 38 38 38 38 38 38 39 39 CHAPTER 2 83 Example Fluid Flow Modeling 93 Example Electric Traction Motor Control 95 Example Mechanical Accelerometer 98 Example Laboratory Robot 99 Example Low-Pass Filter 117 Example Disk Drive Read System 139 CDP2.1 Traction Drive Motor Control 139 DP2.1 Selection of Transfer Functions Television Beam Circuit DP2.2 139 Transfer Function Determination 139 DP2.3 DP2.4 Op Amp Differentiating Circuit 139 CHAPTER 3 Example Modeling the Orientation of a Space Station Example Printer Bell Drive Example Disk Drive Read System CDP3.1 Traction Drive Motor Control DP3.1 DP3.2 Shock Absorber for Motorcycle Diagonal Matrix Differential Equation Aircraft Arresting Gear Bungi Jumping System State Variable Feedback DP3.3 DP3.4 DP3.5 CHAPTER 4 Example English Channel Boring Machines Example Mars Rover Vehicle Example Blood Pressure Control Example Disk Drive Read System CDP4.1 Traction Drive Motor Control 176 183 192 21)8 208 209 209 209 209 232 235 237 251 270 DP4.1 DP4.2 DP4.3 DP4.4 DP4.5 DP4.6 Speed Control System Airplane Roll Angle Control Velocity Control System Laser Eye Surgery Pulse Generating Op Amp Hvdrobot 270 271 271 271 272 272 CHAPTER 5 316 Example Hubble Telescope Pointing Example Attitude Control of an Airplane 319 333 Example Disk Drive Read System 349 CDP5.1 Traction Drive Motor Control DP5.1 Jet Fighter Roll Angle Control 349 349 DP5.2 Welding Arm Position Control 349 Automobile Active Suspension DP5.3 Satellite Orientation Control DP5.4 350 DP5.5 De-burring Robot for Machined Parts DC Motor Position Control 350 351 DP5.6 CHAPTER 6 Example Tracked Vehicle Turning Example Robot-Controlled Motorcycle Example Disk Drive Read System CDP6.1 Traction Drive Motor Control DP6.1 Automobile Ignition Control DP6.2 Mars Guided Vehicle Control DP6.3 DP6.4 DP6.5 DP6.6 DP6/7 DP6.8 Parameter Selection Space Shuttle Rocket Traffic Control System State Variable Feedback Inner and Outer Loop Control PD Controller Design 373 375 390 402 402 403 403 403 403 403 404 404 Pitch Rate Aircraft Control Helicopter Velocity Control CHAPTER 7 Example Laser Manipulator Control Example Robot Control System Example Automobile Velocity Control Example Disk Drive Read System CDP7.1 Traction Drive Motor Control DP7.1 DP7.2 DP7.3 Mars Rover DP7.4 DP7.5 DP7.6 DP7.7 DP7.8 Remotely Controlled Welder ' High-Performancc Jet Aircraft Control of Walking Motion OP Amp Control System Robot Arm Elbow Joint Actuator 487 Four-Wheel-Steered Automobile 487 447 448 452 463 485 485 485 486 486 486 486 487 DP7.9

DP7.10 Pilot Crane Control DP7.11 Planetary Rover Vehicle DP7.12 Roll Angle Aircraft Autopilot DP7.13 PD Control of a Marginally Stable Process CHAPTER 8 Example Engraving Machine Control Example Control of a Six-Legged Robot Example Disk Drive Read System CDP8.1 Traction Drive Motor Control DP8.1 Automobile Steering System DP8.2 Autonomous Planetary Explorer-Ambler DP8.3 Vial Position Control Under a Dispenser DP8.4 Automatic Anesthesia Control DP8.5 DP8.6 Black Box Control State Variable System Design CHAPTER 9 Example Remotely Controlled Reconnaissance Vehicle Example Hot Ingot Robot Control Example Disk Drive Read System CDP9.1 Traction Drive Motor Control DP9.1 Mobile Robot for Toxic Waste 488 488 489 489 523 526 540 561 561 561 561 561 563 563 607 610 629 659 Cleanup Control of a Flexible Arm Blood Pressure Regulator Robot Tennis Player Electrohydraulic Actuator Steel Strip-Rolling Mill Lunar Vehicle Control DP9.2 DP9.3 DP9.4 DP9.5 DP9.6 DP9.7 662 DP9.8 High-Speed Steel-Rolling Mill DP9.9 Two-Tank Temperature Control 662 DP9.10 State Variable Feedback Control 663 659 659 659 659 659 659 CHAPTER 10 707 Example Rotor Winder Control System Example The X-Y Plotter 711 Example Milling Machine Control System 714 726 Example Disk Drive Read System CDP10.1 Traction Drive Motor Control 747 DP10.1 Two Cooperating Robots 747 DPI 0.2 Heading Control of a Bi-Wing Aircraft DP10.3 Mast Flight System DP10.4 Robot Control Using Vision DP10.5 High-Speed Train Tilt Control DP10.6 Large Antenna Control DPI 0.7 Tape Transport Speed Control DP10,8 Automobile Engine Control DP10.9 Aircraft Roll Angle Control 747 747 749 749 749 750 750 751 DP10.10 Windmill Radiometer DP10.11 Control with Time Delay DP10.12 Loop Shaping CHAPTER 11 Example Automatic Test System Example Diesel Electric Locomotive Example Disk Drive Read System CDP11.1 Traction Drive Motor Control DPI LI Levitation of a Steel Ball DPI 1.2 Automobile Carburetor DPI 1.3 Sta te Variable Compensation DP11.4 Helicopter Control DP1L5 Manufacturing of Paper DPI 1.6 Coupled-Drive Control DPI 1.7 Tracking a Reference Input CHAPTER 12 Example Aircraft Autopilot Example Space Telescope Control Example Robust Bobbin Drive Example Ultra-Precision Diamond Turning Machine Example Digital Audio Tape Controller Example Disk Drive Read System CDP12.1 Traction Drive Motor Control DP12.1 Turntable Position Control DP12.2 Robust Parameter Design DP12.3 Dexterous Hand Master DP12.4 Microscope Control DP12.5 Microscope Control DP12.6 Artificial Control of Leg Articulation DP 12.7 Elevator Position Control DP12.8 Electric Ventricular Assist Device DP12.9 Space Robot Control DP12.10 Solar Panel Pointing Control DP12.11 Magnetically Levitated Train DP12,12 Mars Guided Vehicle Control DP12.13 Benchmark Mass-Spring CHAPTER 13 Example Worktable Motion Control Example Fly-by-wire Aircraft Control Example Disk Drive Read System CDP13.1 Traction Drive Motor Control DP13.1 Temperature Control System DP13.2 Disk Drive Read-Write Head- Positioning System DP13.3 Vehicle Traction Control DP13.4 Machine-Tool System DP13.5 Polymer Extruder Control DP13.6 Sampled-Data System 751 752 752 795 798 810 821 821 821 821 822 822 823 823 853 853 856 858 861 876 891 891 891 891 892 893 893 894 894 895 896 896 896 896 926 928 940 947 947 947 947 948 948 948

Modern Control Systems ELEVENTH EDITION Richard C. Dorf University of California, Davis Robert H. Bishop The University of Texas at Austin Pearson Education International

If you purchased this book within the United States or Canada you should be aware that it has been wrongfully imported without the approval of the Publisher or the Author. Vice President and Editorial Director, ECS: Marcia L Horton Acquistions Editor: Michael McDonald Senior Managing Editor: Scott Disanno Senior Production Editor: Irwin Zucker Art Editor: Greg Dulles Manufacturing Manager: Alexis Heydt-Long Manufacturing Buyer: Lisa McDowell Senior Marketing Manager: Tim Galligan © 2008 Pearson Education, Inc. Pearson Prentice Hall Pearson Education, Inc. Upper Saddle River, NJ 07458 All rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher. Pearson Prentice Hall® is a trademark of Pearson Education, Ina MATLAB is a registered trademark of The Math Works, Inc., 24 Prime Park Way, Natick, MA 01760-1520 The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of the theories and programs to determine their effectiveness. The author and publisher make no warranty of any kind, expressed or implied, with regard to these programs or the documenta tion contained in this book. The author and publisher shall not be liable in any event for incidental or consequen tial damages in connection with, or arising out of, the furnishing, performance, or use of these programs. Printed in Singapore 10 9 8 7 6 5 4 3 21 ISBN 0 - 1 3 - 2 0 L 7 1 0 -2 ^ - 0 - 1 3 - 2 0 1 , 7 1 0 -2 Pearson Education Ltd., London Pearson Education Australia Pty. Ltd., Sydney Pearson Education Singapore, Pte. Ltd. Pearson Education North Asia Ltd., Hong Kong Pearson Education Canada, Inc., Toronto Pearson Educacion de Mexico, S.A. de C.V. Pearson Education—Japan, Tokyo Pearson Education Malaysia, Pte. Ltd. Pearson Education, Inc., Upper Saddle River, New Jersey

Of the greater teachers— when they are gone, their students will say: we did it ourselves. Dedicated to Lynda Ferrera Bishop and Joy MacDonald Dorf In grateful appreciation

Contents Preface xiii About the Authors xxv CHAPTER 1 Introduction 2 Brief History of Automatic Control 4 Examples of Control Systems 8 Engineering Design 16 Control System Design 17 Introduction to Control Systems 1 1.1 1.2 1.3 1.4 1.5 1.6 Mechatronic Systems 20 1-7 1.8 Design Examples 25 1.9 1.10 Summary 30 Exercises 30 Problems 31 Advanced Problems 36 Design Problems 38 Terms and Concepts 39 The Future Evolution of Control Systems 24 Sequential Design Example: Disk Drive Read System 28 CHAPTER 2 Mathematical Models of Systems 41 Introduction 42 Signal-Flow Graph Models 76 2.1 2.2 Differential Equations of Physical Systems 42 2.3 Linear Approximations of Physical Systems 47 The Laplace Transform 50 2.4 2.5 The Transfer Function of Linear Systems 57 2.6 Block Diagram Models 71 2.7 2.8 Design Examples 82 2.9 2.10 Sequential Design Example: Disk Drive Read System 117 2.11 Summary 119 Exercises 120 Problems 126 Advanced Problems 137 Design Problems 139 Computer Problems 140 Terms and Concepts 142 The Simulation of Systems Using Control Design Software 102 v

vi Contents CHAPTER 3 CHAPTER 4 The Transfer Function from the State Equation 170 The Time Response and the State Transition Matrix 172 Introduction 145 The State Variables of a Dynamic System 145 The State Differential Equation 149 Signal-Flow Graph and Block Diagram Models 154 State Variable Models 144 3.1 3.2 3.3 3.4 3.5 Alternative Signal-Flow Graph and Block Diagram Models 165 3.6 3.7 3.8 Design Examples 176 3.9 Analysis of State Variable Models Using Control Design Software 189 3.10 Sequential Design Example: Disk Drive Read System 192 3.11 Summary 196 Exercises 197 Problems 199 Advanced Problems 207 Design Problems 208 Computer Problems 210 Terms and Concepts 211 Steady-State Error 228 The Cost of Feedback 231 Introduction 213 Error Signal Analysis 215 Sensitivity of Control Systems to Parameter Variations 217 Feedback Control System Characteristics 212 41 4.2 4.3 4.4 Disturbance Signals in a Feedback Control System 220 4.5 Control of the Transient Response 225 4.6 4.7 4.8 Design Examples 232 4.9 4.10 Sequential Design Example: Disk Drive Read System 251 4.11 Summary 255 Exercises 257 Problems 261 Advanced Problems 267 Design Problems 270 Computer Problems 273 Terms and Concepts 276 Control System Characteristics Using Control Design Software 246 CHAPTER 5 The Performance of Feedback Control Systems 277 5.1 5.2 5.3 Introduction 278 Test Input Signals 278 Performance of Second-Order Systems 281

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