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Advanced Control Theory 2nd Nagoor Kani
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Advanced Control Theory 2nd Nagoor Kani
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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
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