Table Of ContentAutomatic control systems have become essential features in virtually every
area of technology, from machine tools to aerospace vehicles.
This book is a thorough, easy-to-read introduction to automatic control engi-
neering, emphasizing the way physical properties of individual interconnected
devices in a system influence the dynamic performance of the entire control
system.
The author begins with the fundamentals of modeling mechanical, electrical,
and electromechanical systems in the state-variable format. The emphasis is on
classical feedback control theory and design, and their application to practical
electromechanical and aerospace problems. Following a careful grounding in
classical control theory, the author provides an introduction to modern control
theory, including digital control and nonlinear system analysis. Problems at
the end of each chapter (more than 230 altogether) help the reader apply prin-
ciples discussed in the text to practical engineering situations.
Engineering students and practicing engineers will find what they need to know
about control system analysis and design in this clear and comprehensive text.
Control System Dynamics
Control System
Dynamics
Robert N. Clark
University of Washington
CAMBRIDGE
UNIVERSITY PRESS
CAMBRIDGE UNIVERSITY PRESS
Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, Sao Paulo
Cambridge University Press
The Edinburgh Building, Cambridge CB2 2RU, UK
Published in the United States of America by Cambridge University Press, New York
www.cambridge.org
Information on this title: www.cambridge.org/9780521472395
© Cambridge University Press 1996
This book is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without
the written permission of Cambridge University Press.
First published 1996
This digitally printed first paperback version 2005
A catalogue record for this publication is available from the British Library
Library of Congress Cataloguing in Publication data
Clark, Robert N.
Control system dynamics / Robert N. Clark,
p. cm.
Includes bibliographical references and index.
ISBN 0-521-47239-3 (he)
1. Feedback control systems. 2. Control theory. I. Title.
TJ216.C55 1995
629.8'312-dc20 95-14945
CIP
ISBN-13 978-0-521-47239-5 hardback
ISBN-10 0-521-47239-3 hardback
ISBN-13 978-0-521-01793-0 paperback
ISBN-10 0-521-01793-9 paperback
Dedicated to my wife
Mary Quiatt Clark
and to our sons
Charles Winthrop Clark
John Robert Clark
Timothy James Clark
Franklin Thomas Clark
Contents
Preface page xi
1 Introduction to Control System Engineering 1
1.1 Background 1
1.2 Modern Control Theory and the Digital Computer 1
1.3 Organization of the Book 2
1.4 Role of the Problems 3
2 Mathematical Models of Mechanical Systems 5
2.1 Introduction 5
2.2 Mass, Spring, and Damper System 6
2.3 Simple Rate Gyroscope 11
2.4 Pendulum with Moving Base 15
2.5 Mechanical Drive Systems 21
2.6 Single-Axis Rigid Spacecraft 25
2.7 Longitudinal-Axis Dynamics of an Airplane 26
2.8 Summary 34
2.9 Problems 36
3 Mathematical Models of Electrical Systems 44
3.1 Introduction 44
3.2 Passive Circuits 45
3.3 Active Circuits 51
3.4 Transducers 58
3.5 Noise in Electrical Signals 62
3.6 Summary 63
3.7 Problems 64
vii
viii Contents
4 Mathematical Models of Electromechanical and
Electrohydraulic Systems 70
4.1 Introduction 70
4.2 Fundamentals of the DC Machine 71
4.3 Electromagnets 83
4.4 Electrohydraulic Amplifier, Valve, and Ram System 88
4.5 Summary 92
4.6 Problems 93
5 Summary of Modeling Principles for Physical
Systems 99
5.1 Introduction 99
5.2 Choice of State Variables 100
5.3 The Output Equation 104
5.4 Summary 106
5.5 Problems 107
Solution to the Initial-Value Problem 110
6.1 Introduction 110
6.2 A First-Order Example 111
6.3 The rtth-Order Multivariable System 115
6.4 A Single-Input-Single-Output System; the Transfer
Function 117
6.5 The AUh-Order Single-Input-Single-Output System 122
6.6 Composite Transfer Functions 126
6.7 Summary 130
6.8 Problems 131
7 Pole-Zero Methods of Analysis for Single-Input-
Single-Output Systems 137
7.1 Introduction 137
7.2 Partial-Fraction Expansion of Y(s) 141
7.3 The Second-Order System 150
7.4 A Third-Order System 162
7.5 Higher-Order Systems 167
7.6 Series Compensation 174
7.7 Nonminimum Phase Systems 179
7.8 Summary 180
7.9 Problems 181
8 Automatic Feedback Control 189
8.1 Automatic Control of Dynamic Systems 189
8.2 Feedback Control of Dynamic Plants 191
8.3 Block Diagrams for Control System Analysis 196
