内容是经典控制理论的基本方法，和自动控制的常用技术，主要包括线性连续控制系统的建模、瞬态响应分析、频率响应分析、稳定性分析、各种控制器的整定与系统设计等。本书可作为一般本科院校电子信息类专业自动控制理论课程教材或教学参考书，也可供从事自动化技术的工程技术人员作为自学读物。

There are a number of excellent textbooks covering the subject of control engineering at the engineering level．These books are typically written for a two-semester course in control engineering or for an intense one-semester course in the senior year． As is typical of engineering textbooks，these treat control theory from a mathematical point of view． Elements of Control Systems does not do that．This book is suitable for two or four-year college programs requiring an in-depth understanding of control systems, A one-semester university course at the freshman level, Industry personnel interested in developing a greater understanding of control principles. It has been very difficult to decide on the precise content of such a textbook．It iS not a handbook．So it cannot contain every single aspect of it，and it is not a“how-to”recipe book focusing on very specific topics．An attempt has been made to cover the major topics in control system technology．It should permit the reader to develop sufficient understanding to operate，maintain，and regulate control systems．At the same time，it should permit the reader to design and develop basic control systems． No attempt has been made to cover PLCs or their operation or programming．This topic is a field in itself,and a chapter in this text could not have done justice to it．Even though a number of PLCs have begun to offer continuous control modules,their primary application is in digital I/O and not in process control． Sensors，transducers，and actuators form an important segment of control technology,but so do microcontrollers，data converters，and instrumentation interface circuits．These again have not been covered in lieu of more relevant subject matter. Where possible,an attempt has been made to point out the issues with circuit components and their impact on system operations．A chapter has been dedicated to digital control, still treating it from the classical control point of view．A chapter on fuzzy logic control provides a solid introduction to the topic．An attempt has been made to avoid excessive use of some of the cryptic terms commonly used with fuzzy control． How to Use the Book The book consists of two major sections：the first part covers control system theory and the second part covers controllers and their applications． It is important that the first part be studied with some diligence.The reader should be fully comfortable with the notions of time and frequency response before tackling controllers and their applications．The first chapter introduces the concept of a control system．The second chapter covers block diagrams，followed by a chapter on Laplace transformation．Laplace transformation is covered with an application-oriented approach．It is not intended to provide a solid foundation in operational calculus but apply it to determine system transfor functions in the following chapter on mathematical modeling．Having an understanding of the origin of transfer functions，time and frequency response techniques are covered．The discussion on stability is the coverage on controllers．It is intended to develop awareness for the consequences of improper controller selection and adjustment． The second part of the book deals with controllers，their operation，adjustment and analog and digital implementation．Some of these topics can actually be studied independently of the first，but it is not recommended．The section on digital controllers requires some understanding of microcontrollers and their programming．Annotated software listings have been provided in each case． I would like to thank a number of people who have provided valuable support for this book project：Charles Stewart，publisher at Prentice Hall for his acceptance of the initial manuscript and his encouraging words；my copyeditor,Linda Thompson and project ditor, Lisa Garboski，for their skills and painstaking effort；Eric Sells and Al Lovrich of Microchip Technology；Mark Siegesmund of CCS，Inc．;and Naomi Fernandes of The MathWorks Inc． Many thanks also should go to the reviewers：Jeff Slutsk,Rochester Institute of Technology；Richard L．Windley,ECPI College of Technology；C．Richard G．Helps，Brigham Young University;John Glozy,DeVry Institute of Technology；and Dr．Nebojsa Jaksic，DeVry Institute of Technology． I would also like to thank my family：my wife Nita for putting up with my spending countless hours working on the manuscript,my son Sachin for very valuable help with computer work，and my daughter Avina for help in transforming the handwritten notes into a printed document．Above all I would like to thank them for their constant encouragement． Feedback This being the first edition，it is possible that mistakes may have been made，in spite of the best efforts of the author and the publisher．It would be greatly appreciated if you can point these out．Any kind of constructive criticism is welcome． Sudhir K．Gupta sgupta@mcjournal．com

出版说明
序
PREFACE
1 BASIC CONCEPTS
Introduction
Control Terminology
Functioning of a Control System
Examples of Closed-Loop Control Systems
Problems
2 BLOCK DIAGRAMS
Introduction
Definition of a Block Diagram
Summing Point
Takeoff Point
Block Diagram Representation of an Equation
Block Diagram Representation of Control Systems
Transfer Functions
General Transfer Function
Transfer Function of a Closed-Loop System
Comparison of Positive-Feedback and
Negative-Feedback Systems
Unity Feedback Systems
Conversion to a Unity Feedback System
Block Diagram Simplification
Op—Amp Simulation of a Block Diagram
Summing Point
Summing Point with Adjustable SP Input
Gain Block
Constant-Gain(Noninverting)Block
Constant-Gain(Inverting)Block
Takeofr Point
Summing Point with Multiple Inputs
Problems
3 LAPLACE TRANSFORMS
Introduction
Transformations
Laplace Transform Integral
Transform Notation
Rules of Transformation
Forward Transformation Procedure
Inverse Transformation Procedure
Partial-Fraction Expansion
Distinct Roots
Repeated Roots
Applications of Laplace Transforms：
Difierential Equations
Problems
4 MATHEMATlCAL MoDELING
Introduction
Mathematical Model
Nonlinear Behavior
Transfer Functions
Electrical Networks
Resistor
Capacitor
Inductor
Series RC Circuit
Series RL Circuit
Series RLC Circuit
Mechanical Systems
Mass
Spring
Damper
Spring Mass Damper System
Analogy Between Physical Systems
Fluid Systems
Single-Tank Fluid-Level System
Two-Tank Fluid-Level System
Thermal Systems
Heating Systems
Problems
5 TRANSIENT RESPONSE
Introduction
Time Response
Input Functions
Step Function
Pulse Function
Impulse Function
Delayed Impulse Function
Ramp Function
Sinusoidal Function
Types of Transient Responses
Overdamped Response
Critically Damped Response
Underdamped Response
Constant Oscillations
Increasing Oscillations
Exponential Rise
Transient Response Through Laplace
Transformation
Impulse Function Response
Characteristic Equation
Poles and Zeros of the Transfer Function
s-Plane and Pole-Zero Map
Pole Location and Transient Response
Problems
6 FREQUENCY RESPONSE
Introduction
Methods Used for Frequency Response
Representation
Frequency Response Determination
Problems
7 COMMON TRANSFER FUNCTIONS
Introduction
Common Blocks(Transfer Functions)
Constant Block
Time Response of a Constant TF
Frequency Response of a Constant Block
Integral Block
Time Response of an Integral Block
Frequency Response of an Integral Block
Derivative Block
Time Response of a Derivative Block
Frequency Response of a Derivative Block
The Relationship Between Integral
and Derivative Blocks
First-Order Lag Block
Time Response to a Unit Step Input
Frequency Response of a First-Order
Lag Block
First-Order Lead Block
Time Response to a Unit Step Input
Frequency Response of a First-Order
Lead Block
Second-Order Lag Block
Time Response to a Unit Step Input
Characteristics of Underdamped Response
Frequency Response of a Second-Order
Lag Block
Second-Order Lead Block
Time Response to a Unit Step Input
Frequency Response of a Second-Order
Lead Block
Dead Time：TransportatiOn Lag Block
Time Response to a Unit Step Input
Frequency Response of a Dead-Time Block
Problems
8 STABILlTY
Introduction
Concept of Stability
Stability and the Open-Loop Transfer Function Open-Loop Gain and Operating Frequency
Stability from a Bode Plot
Gain and Phase Margias
Gain and Phase Crossover Frequencies
Gain Margin(GM)
Phase Margin(PM)
Desired Gain and Phase Margins
Stability from the Characteristic Equation
Routh Criterion for Stability
Root LOCUS Analysis
Root Locus Through MATLAB
Problems
9 CONTROLLERS：THE oN-oFF CONTROLLER
Introduction
Role of a Controller
Types Of Controllers
Use of a Percent as Input and Output
Measured Value as a Percentage Value
Set Point as a Percentage Value
Error as a Percentage Value
On-Of Control
Types of On-Off Control
Electronic Implementation(Analog)
TWO-Position Control
Neutral Zone
Controller Action
Applications
Electronic Implementation
Multiposition(Floating)Control
Problems
10 ANALOG CONTROLLER
Introduction
Proportional Controller(P)
Transfer Characteristic
Proportional Band
Relationship Between Percent Output
and Physical Controller Output
Electronic Implementation
Frequency Response of
a Proportional Controller
Proportional Control of a Closed Loop
Steady-State Operation with Zero Error
Proportional Controller with Offset
Offset Voltage Adjustment
Integral Controller(I)
Electronic Implementation
Limiting DC Gain
Frequency Response of an Ideal
Integral Controller
Frequency Response of a DC Gain-Limited
Integral Controller
Derivative Controller(D)
Electronic Implementation
Frequency Response of a Derivative
Controller
Limiting High-Frequency Gain
Problems
11 ANALOG CONTRoLLER II
Introduction
Composite Controller Modes
Serial Implementation
Parallel Implementation
PI Controller
Electronic Implementation of a PI controller
Frequency Response of a PI Controller
PD Controller
Electronic Implementation of a PD controller
Frequency Response of a PD Controller
PID Controller
Electronic Implementation
Changing the Operating Mode
Frequency Response of a PID Controller
Problems
12 DIGITAL CONTROLLER
Introduction
Digital Controller
Controller Sequence of Operation
Considerations for Digital Control
Digital Two-Position Control
Sequence of Operation
Microcontroller Implementation
of a Two-Position Controller
Digital PID Controller
Analog PID Algorithm
Digital PID Algorithm
Zero-Order Hold(ZOH)
Ideal Digital PID Algorithm
Discrete PID Algorithm-BASIC Language
Manual Control Mode
Velocity Algorithm
Improved Derivative Term
Microcontroller Implementation of a PID controller
DC Motor Control
Control Software Description
Problems
13 FUZZY CONTROLLER
Introduction
Continuum World
Conventional Logic
Fuzzy Logic and Fuzzy Logic Terminology
Fuzzy Control System
Problem Identification
Conceptual Design
Problems
14 CONTROLLER TUNING AND SYSTEM DESIGN
Introduction
Performance Criteria
Controller Tuning
Controller Tuning：Known Plant Model
Plant Model from Experimental Response
Testing
Step Response Test
Graphical Analysis
Computational Method
Frequency Response Test
Experimental Determination of Controller Setting
Continuous Cycling Method
Reaction Curve Method
Case Study：Machine Positional Control System
Drive Mechanism
Position Transducer
Problems
15 ADDITIONAL CONTRoL TECHNIQUES
Introduction
Feedforward Control
Disturbance Signal
Ratio Control
Cascade Control
Autotuning Controller
State-Space Techniques
State Variables
State Equations
Transfer Function to State-Space
ReDresentatiOn
Problems
BIBLIOGRAPHY
APPENDlX A MATLAB
GLOSSARY
INDEX
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