Design Examples and Design Problems (DP) CHAPTER 1 PAGE DP43 Velocity Control System 297 Example Hybrid Fuel Vehicles 22 DP4.4 Laser Eye Surgery 297 Example Wind Power 23 DP4.5 Pulse Generating Op Amp 298 Example Embedded Computers 24 DP4.6 Hydrobot 298 Example Smart Grid Control Systems 28 DP4.7 Unmanned Underwater Vehicles 298 Example Rotating Disk Speed Control 30 DP4.8 Mobile Remote-Controlled Example Insulin Delivery Control System 31 Video Camera 299 Example Disk Drive Read System 32 CHAPTER 5 CDP1.1 Traction Drive Motor Control 46 Example Hubble Telescope Pointing 343 DP1.1 Automobile Noise Control 46 Example Attitude Control of an DP1.2 Automobile Cruise Control 46 Airplane 346 DP1.3 Dairy Farm Automation 46 Example Disk Drive Read System 360 DPI .4 Welder Control 46 CDP5.1 Traction Drive Motor Control 379 DPI .5 Automobile Traction Control 46 DP5.1 Jet Fighter Roll Angle Control 379 DP1.6 Hubble Telescope Vibration 47 DP5.2 Welding Arm Position Control 379 DPI.7 Nanorobotics in Medicine 47 DP5.3 Automobile Active Suspension 379 DP1.8 Human Transportation Vehicle 47 DP5.4 Satellite Orientation Control 380 CHAPTER 2 DP5.5 Deburring Robot for Machined Example Photovoltaic Generators 91 Parts 380 Example Fluid Flow Modeling 94 DP5.6 DC Motor Position Control 380 Example Electric Traction Motor Control 104 DP5.7 Three-Dimensional Cam 381 Example Mechanical Accelerometer 106 DP5.8 Spray Paint Robot 381 Example Laboratory Robot 109 CHAPTER 6 Example Low-Pass Filter 111 Example Tracked Vehicle Turning 404 Example Disk Drive Read System 128 Example Robot-Controlled Motorcycle 406 CDP2.1 Traction Drive Motor Control 155 Example Disk Drive Read System 421 DP2.1 Selection of Transfer Functions 155 CDP6.1 Traction Drive Motor Control 438 DP2.2 Television Beam Circuit 155 DP6.1 Automobile Ignition Control 438 DP2.3 Transfer Function Determination 155 DP6.2 Mars Guided Vehicle Control 439 DP2.4 Op Amp Differentiating Circuit 155 DP6.3 Parameter Selection 439 DP2.5 Grandfather Clock Pendulum 156 DP6.4 Space Shuttle Rocket 439 CHAPTER 3 DP6.5 Traffic Control System 439 Example Modeling the Orientation of a DP6.6 State Variable Feedback 439 Space Station 193 DP6.7 Inner and Outer Loop Control 440 Example Printer Belt Drive 200 DP6.8 PD Controller Design 440 Example Disk Drive Read System 209 CHAPTER 7 CDP3.1 Traction Drive Motor Control 230 Example Wind Turbine Speed Control 497 DP3.1 Shock Absorber for Motorcycle 230 Example Laser Manipulator Control 500 DP3.2 Diagonal Matrix Differential Example Robot Control System 502 Equation 230 Example Automobile Velocity Control 505 DP3.3 Aircraft Arresting Gear 230 Example Disk Drive Read System 516 DP3.4 Bungi Jumping System 230 CDP7.1 Traction Drive Motor Control 543 DP3.5 State Variable Feedback 231 DP7.1 Pitch Rate Aircraft Control 543 CHAPTER 4 DP7.2 Helicopter Velocity Control 543 Example English Channel Boring DP7.3 Mars Rover 544 Machines 254 DP7.4 Remotely Controlled Welder 544 Example Mars Rover Vehicle 257 DP7.5 High-Performance Jet Aircraft 544 Example Blood Pressure Control 259 DP7.6 Control of Walking Motion 545 Example Disk Drive Read System 273 DP7.7 Mobile Robot with Vision 545 CDP4.1 Traction Drive Motor Control 296 DP7.8 OP Amp Control System 545 DP4.1 Speed Control System 296 DP7.9 Robot Arm Elbow Joint DP4.2 Airplane Roll Angle Control 297 Actuator 546 DP7.10 Four-Wheel-Steered Automobile 546 DPI 0.7 Aircraft Roll Angle Control 828 DP7.11 Pilot Crane Control 547 DP10.8 Windmill Radiometer 828 DP7.12 Planetary Rover Vehicle 547 DP10.9 Control with Time Delay 829 DP7.13 Roll Angle Aircraft Autopilot 548 DP10.10 Loop Shaping 830 DP7.14 PD Control of a Marginally DP10.11 Polymerase Chain Reaction Stable Process 548 Control 830 CHAPTER 8 CHAPTER 11 Example Maximum Power Pointing Example Automatic Test System 873 Tracking 583 Example Diesel Electric Locomotive 876 Example Engraving Machine Control 585 Example Disk Drive Read System 888 Example Control of a Six-Legged Robot 588 CDP11.1 Traction Drive Motor Control 903 Example Disk Drive Read System 602 DP11.1 Levitation of a Steel Ball 903 CDP8.1 Traction Drive Motor Control 628 DPI 1.2 Automobile Carburetor 903 DP8.1 Automobile Steering System 628 DPI 1.3 State Variable Compensation 903 DP8.2 Autonomous Planetary DP11.4 Helicopter Control 904 Explorer-Ambler 628 DP11.5 Manufacturing of Paper 904 DP8.3 Vial Position Control Under a DP 11.6 Coupled-Drive Control 905 Dispenser 628 DPI 1.7 Tracking a Reference Input 905 DP8.4 Automatic Anesthesia Control 628 CHAPTER 12 DP8.5 Black Box Control 630 Example Aircraft Autopilot 935 DP8.6 State Variable System Design 630 Example Space Telescope Control 935 DP8.7 PID Controller Design 631 Example Robust Bobbin Drive 938 CHAPTER 9 Example Ultra-Precision Diamond Example PID Control of Wind Turbines 674 Turning Machine 940 Example Remotely Controlled Example Digital Audio Tape Controller 943 Reconnaissance Vehicle 678 Example Disk Drive Read System 958 Example Hot Ingot Robot Control 681 CDP12.1 Traction Drive Motor Control 974 Example Disk Drive Read System 700 DP12.1 Turntable Position Control 974 CDP9.1 Traction Drive Motor Control 735 DP12.2 Robust Parameter Design 974 DP9.1 Mobile Robot for Toxic Waste DP12.3 Dexterous Hand Master 974 Cleanup 735 DP12.4 Microscope Control 975 DP9.2 Control of a Flexible Arm 735 DP12.5 Microscope Control 976 DP9.3 Blood Pressure Regulator 735 DPI 2.6 Artificial Control of Leg DP9.4 Robot Tennis Player 735 Articulation 976 DP9.5 Electrohydraulic Actuator 735 DP12.7 Elevator Position Control 977 DP9.6 Steel Strip-Rolling Mill 735 DP12.8 Electric Ventricular Assist DP9.7 Lunar Vehicle Control 738 Device 978 DP9.8 High-Speed Steel-Rolling Mill 738 DP12.9 Space Robot Control 978 DP9.9 Two-Tank Temperature Control 738 DP12.10 Solar Panel Pointing Control 979 DP9.10 State Variable Feedback Control 739 DP12.11 Magnetically Levitated Train 979 DP9.11 Nuclear Reactor Control 739 DP12.12 Mars Guided Vehicle Control 979 DP 12.13 Benchmark Mass-Spring 979 CHAPTER 10 Example Rotor Winder Control System 783 CHAPTER 13 Example The X-Y Plotter 787 Example Worktable Motion Control 1009 Example Milling Machine Control System 790 Example Fly-by-wire Aircraft Control 1011 Example Disk Drive Read System 802 Example Disk Drive Read System 1023 CDP10.1 Traction Drive Motor Control 826 CDP13.1 Traction Drive Motor Control 1034 DPI 0.1 Two Cooperating Robots 826 DP13.1 Temperature Control System 1034 DPI 0.2 Heading Control of a Bi-Wing DP13.2 Disk Drive Read-Write Head- Aircraft 826 Positioning System 1034 DPI 0.3 Mast Flight System 826 DP13.3 Vehicle Traction Control 1034 DP 10.4 High-Speed Train Tilt Control 826 DP13.4 Machine-Tool System 1035 DP10.5 Tape Transport Speed Control 828 DPI3.5 Polymer Extruder Control 1035 DPI 0.6 Automobile Engine Control 828 DPI 3.6 Sampled-Data System 1035 Modern Control Systems TWELFTH EDITION Richard C. Dorf University of California, Davis Robert H. Bishop Marquette University Prentice Hall Upper Saddle River Boston Columbus San Francisco New York Indianapolis London Toronto Sydney Singapore Tokyo Montreal Dubai Madrid Hong Kong Mexico City Munich Paris Amsterdam Cape Town Vice President and Editorial Director, ECS: Marcia J. 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Copyright © 2011,2008,2005,2001 by Pearson Education, Inc., Upper Saddle River, New Jersey 07458. All rights reserved. Manufactured in the United States of America. This publication is protected by Copyright and permis sions should be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. To obtain permission(s) to use materials from this work, please submit a written request to Pearson Higher Education, Permissions Department, 1 Lake Street, Upper Saddle River, NJ 07458. 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 documentation contained in this book. The author and publisher shall not be liable in any event for incidental or consequential damages in connection with, or arising out of, the furnishing, performance, or use of these programs. Library of Congress Cataloging-in-Publication Data Dorf, Richard C. Modern control systems / Richard C. Dorf, Robert H. Bishop. — 12th ed. p. cm. ISBN-13:978-0-13-602458-3 ISBN-10:0-13-602458-0 1. Feedback control systems. I. Bishop, Robert H. II. Title. TJ216.D67 2010 629.83-dc22 2010015651 Prentice Hall is an imprint of 10 9 8 7 6 5 4 3 21 ISBN-13:978-0-13-602458-3 www.pearsonhighered.com ISBN-10: 0-13-602458-0 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 xi About the Authors xxii CHAPTER 1 Introduction to Control Systems 1 1.1 Introduction 2 1.2 Brief History of Automatic Control 5 1.3 Examples of Control Systems 10 1.4 Engineering Design 17 1.5 Control System Design 18 1.6 Mechatronic Systems 21 1.7 Green Engineering 25 1.8 The Future Evolution of Control Systems 27 1.9 Design Examples 28 1.10 Sequential Design Example: Disk Drive Read System 32 1.11 Summary 34 Skills Check 35 • Exercises 37 • Problems 39 • Advanced Problems 44 • Design Problems 46 • Terms and Concepts 48 CHAPTER 2 Mathematical Models of Systems 49 2.1 Introduction 50 2.2 Differential Equations of Physical Systems 50 2.3 Linear Approximations of Physical Systems 55 2.4 The Laplace Transform 58 2.5 The Transfer Function of Linear Systems 65 2.6 Block Diagram Models 79 2.7 Signal-Flow Graph Models 84 2.8 Design Examples 90 2.9 The Simulation of Systems Using Control Design Software 113 2.10 Sequential Design Example: Disk Drive Read System 128 2.11 Summary 130 Skills Check 131 • Exercises 135 • Problems 141 • Advanced Problems 153 • Design Problems 155 • Computer Problems 157 • Terms and Concepts 159 CHAPTER 3 State Variable Models 161 3.1 Introduction 162 3.2 The State Variables of a Dynamic System 162 VI Contents 3.3 The State Differential Equation 166 3.4 Signal-Flow Graph and Block Diagram Models 171 3.5 Alternative Signal-Flow Graph and Block Diagram Models 182 3.6 The Transfer Function from the State Equation 187 3.7 The Time Response and the State Transition Matrix 189 3.8 Design Examples 193 3.9 Analysis of State Variable Models Using Control Design Software 206 3.10 Sequential Design Example: Disk Drive Read System 209 3.11 Summary 213 Skills Check 214 • Exercises 217 • Problems 220 • Advanced Problems 227 • Design Problems 230 • Computer Problems 231 • Terms and Concepts 232 CHAPTER 4 Feedback Control System Characteristics 234 4.1 Introduction 235 4.2 Error Signal Analysis 237 4.3 Sensitivity of Control Systems to Parameter Variations 239 4.4 Disturbance Signals in a Feedback Control System 242 4.5 Control of the Transient Response 247 4.6 Steady-State Error 250 4.7 The Cost of Feedback 253 4.8 Design Examples 254 4.9 Control System Characteristics Using Control Design Software 268 4.10 Sequential Design Example: Disk Drive Read System 273 4.11 Summary 277 Skills Check 279 • Exercises 283 • Problems 287 • Advanced Problems 293 • Design Problems 296 • Computer Problems 300 • Terms and Concepts 303 CHAPTER 5 The Performance of Feedback Control Systems 304 5.1 Introduction 305 5.2 Test Input Signals 305 5.3 Performance of Second-Order Systems 308 5.4 Effects of a Third Pole and a Zero on the Second-Order System Response 314 5.5 The 5-Plane Root Location and the Transient Response 320 5.6 The Steady-State Error of Feedback Control Systems 322 5.7 Performance Indices 330 5.8 The Simplification of Linear Systems 339 5.9 Design Examples 342 5.10 System Performance Using Control Design Software 356 5.11 Sequential Design Example: Disk Drive Read System 360