This thoroughly revised new edition is an outgrowth of senior-level control-system courses taught by the authors at their universities throughout their teaching career. Adopted by hundreds of universities in the United States and around the world, Automatic Control Systems represents the best of Kuo's work combined with additional new material by Farid Golnaraghi to create this exciting revision.

Table of Contents:
Preface iv CHAPTER 1 Introduction 1 1-1 Introduction 1 1-2 What Is Feedback, and What Are Its Effects? 8 1-3 Types of Feedback Control Systems 11 1-4 Summary 14 CHAPTER 2 Mathematical Foundation 16 2-1 Complex-Variable Concept 16 2-2 Frequency-Domain Plots 26 2-3 Introduction to Differential Equations 49 2-4 Laplace Transform 52 2-5 Inverse Laplace Transform by Partial-Fraction Expansion 57 2-6 Application of the Laplace Transform to the Solution of Linear Ordinary Differential Equations 62 2-7 Impulse Response and Transfer Functions of Linear Systems 67 2-8 Stability of Linear Control Systems 72 2-10 Relationship between Characteristic Equation Roots and Stability 74 2-11 Zero-Input and Asymptotic Stability of Continuous-Data Systems 74 2-12 Methods of Determining Stability 77 2-13 Routh-Hurwitz Criterion 78 2-14 MATLAB Tools and Case Studies 84 2-15 Summary 90 CHAPTER 3 Block Diagrams and Signal-Flow Graphs 104 3-1 Block Diagrams 104 3-2 Signal-Flow Graphs (SFGs) 119 3-3 MATLAB Tools and Case Studies 129 3-4 Summary 133 CHAPTER 4 Theoretical Foundation and Background Material: Modeling of Dynamic Systems 147 4-1 Introduction to Modeling of Mechanical Systems 148 4-2 Introduction to Modeling of Simple Electrical Systems 165 4-3 Modeling of Active Electrical Elements: Operational Amplifiers 172 4-4 Introduction to Modeling of Thermal Systems 177 4-5 Introduction to Modeling of Fluid Systems 180 4-6 Sensors and Encoders in Control Systems 189 4-7 DC Motors in Control Systems 198 4-8 Systems with Transportation Lags (Time Delays) 205 4-9 Linearization of Nonlinear Systems 206 4-10 Analogies 213 4-11 Case Studies 216 4-12 MATLAB Tools 222 4-13 Summary 223 CHAPTER 5 Time-Domain Analysis of Control Systems 253 5-1 Time Response of Continuous-Data Systems: Introduction 253 5-2 Typical Test Signals for the Time Response of Control Systems 254 5-3 The Unit-Step Response and Time-Domain Specifications 256 5-4 Steady-State Error 258 5-5 Time Response of a Prototype First-Order System 274 5-6 Transient Response of a Prototype Second-Order System 275 5-7 Speed and Position Control of a DC Motor 289 5-8 Time-Domain Analysis of a Position-Control System 293 5-9 Basic Control Systems and Effects of Adding Poles and Zeros to Transfer Functions 304 5-10 Dominant Poles and Zeros of Transfer Functions 311 5-11 Basic Control Systems Utilizing Addition of Poles and Zeros 314 5-12 MATLAB Tools 319 5-13 Summary 320 CHAPTER 6 The Control Lab 337 6-1 Introduction 337 6-2 Description of the Virtual Experimental System 338 6-3 Description of SIMLab and Virtual Lab Software 340 6-4 Simulation and Virtual Experiments 345 6-5 Design Project 1—Robotic Arm 354 6-6 Design Project 2—Quarter-Car Model 357 6-7 Summary 367 CHAPTER 7 Root Locus Analysis 372 7-1 Introduction 372 7-2 Basic Properties of the Root Loci (RL) 373 7-3 Properties of the Root Loci 377 7-4 Design Aspects of the Root Loci 385 7-5 Root Contours (RC): Multiple-Parameter Variation 393 7-6 MATLAB Tools and Case Studies 400 7-7 Summary 400 CHAPTER 8 Frequency-Domain Analysis 409 8-1 Introduction 409 8-2 Mr, Wr , and Bandwidth of the Prototype Second-Order System 413 8-3 Effects of Adding a Zero to the Forward-Path Transfer Function 418 8-4 Effects of Adding a Pole to the Forward-Path Transfer Function 424 8-5 Nyquist Stability Criterion: Fundamentals 426 8-6 Nyquist Criterion for Systems with Minimum-Phase Transfer Functions 435 8-7 Relation between the Root Loci and the Nyquist Plot 437 8-8 Illustrative Examples: Nyquist Criterion for Minimum-Phase Transfer Functions 440 8-9 Effects of Adding Poles and Zeros to L(s) on the Shape of the Nyquist Plot 444 8-10 Relative Stability: Gain Margin and Phase Margin 449 8-11 Stability Analysis with the Bode Plot 455 8-12 Relative Stability Related to the Slope of the Magnitude Curve of the Bode Plot 459 8-12-1 Conditionally Stable System 459 8-13 Stability Analysis with the Magnitude-Phase Plot 462 8-14 Constant-M Loci in the Magnitude-Phase Plane: The Nichols Chart 463 8-15 Nichols Chart Applied to Nonunity-Feedback Systems 469 8-16 Sensitivity Studies in the Frequency Domain 470 8-17 MATLAB Tools and Case Studies 472 8-18 Summary 472 CHAPTER 9 Design of Control Systems 487 9-1 Introduction 487 9-2 Design with the PD Controller 492 9-3 Design with the PI Controller 511 9-4 Design with the PID Controller 528 9-5 Design with Phase-Lead Controller 532 9-6 Design with Phase-Lag Controller 561 9-7 Design with Lead–Lag Controller 574 9-8 Pole-Zero-Cancellation Design: Notch Filter 576 9-9 Forward and Feedforward Controllers 588 9-10 Design of Robust Control Systems 590 9-11 Minor-Loop Feedback Control 601 9-12 A Hydraulic Control System 605 9-13 Controller Design 617 9-14 MATLAB Tools and Case Studies 631 9-15 Plotting Tutorial 647 9-16 Summary 649 CHAPTER 10 State Variable Analysis 673 10-1 Introduction 673 10-2 Block Diagrams, Transfer Functions, and State Diagrams 673 10-3 Vector-Matrix Representation of State Equations 682 10-4 State-Transition Matrix 684 10-5 State-Transition Equation 687 10-6 Relationship between State Equations and High-Order Differential Equations 691 10-7 Relationship between State Equations and Transfer Functions 693 10-8 Characteristic Equations, Eigenvalues, and Eigenvectors 695 10-9 Similarity Transformation 699 10-10 Decompositions of Transfer Functions 707 10-11 Controllability of Control Systems 714 10-12 Observability of Linear Systems 719 10-13 Relationship among Controllability, Observability, and Transfer Functions 721 10-14 Invariant Theorems on Controllability and Observability 723 10-15 Case Study: Magnetic-Ball Suspension System 725 10-16 State-Feedback Control 728 10-17 Pole-Placement Design Through State Feedback 730 10-18 State Feedback with Integral Control 735 10-19 MATLAB Tools and Case Studies 741 10-20 Summary 751 INDEX 773 Appendices can be found on this book’s companion Web site: www.wiley.com/college/golnaraghi. APPENDIX A Elementary Matrix Theory and Algebra A-1 A-1 Elementary Matrix Theory A-1 A-2 Matrix Algebra A-5 A-3 Computer-Aided Solutions of Matrices A-9 APPENDIX B Difference Equations B-1 B-1 Difference Equations B-1 APPENDIX C Laplace Transform Table C-1 APPENDIX D z-Transform Table D-1 APPENDIX E Properties and Construction of the Root Loci E-1 E-1 K ¼ 0 and K ¼ _1 Points E-1 E-2 Number of Branches on the Root Loci E-2 E-3 Symmetry of the Root Loci E-2 E-4 Angles of Asymptotes of the Root Loci and Behavior of the Root Loci at jsj ¼ 1 E-4 E-5 Intersect of the Asymptotes (Centroid) E-5 E-6 Root Loci on the Real Axis E-8 E-7 Angles of Departure and Angles of Arrival of the Root Loci E-9 E-8 Intersection of the Root Loci with the Imaginary Axis E-11 E-9 Breakaway Points E-11 E-10 Calculation of K on the Root Loci E-16 APPENDIX F General Nyquist Criterion F-1 F-1 Formulation of Nyquist Criterion F-1 F-2 Illustrative Examples—General Nyquist Criterion Minimum and Nonminimum Transfer Functions F-4 F-3 Stability Analysis of Multiloop Systems F-13 APPENDIX G ACSYS 2008: Description of the Software G-1 G-1 Installation of ACSYS G-1 G-2 Description of the Software G-1 G-3 Final Comments G-4 APPENDIX H Discrete-Data Control Systems H-1 H-1 Introduction H-1 H-2 The z-Transform H-1 H-3 Transfer Functions of Discrete-Data Systems H-8 H-4 State Equations of Linear Discrete-Data Systems H-16 H-5 Stability of Discrete-Data Systems H-26 H-6 Time-Domain Properties of Discrete-Data Systems H-31 H-7 Steady-State Error Analysis of Discrete-Data Control Systems H-41 H-8 Root Loci of Discrete-Data Systems H-45 H-9 Frequency-Domain Analysis of Discrete-Data Control Systems H-49 H-10 Design of Discrete-Data Control Systems H-51 H-11 Digital Controllers H-58 H-12 Design of Discrete-Data Control Systems in the Frequency Domain and the z-Plane H-61 H-13 Design of Discrete-Data Control Systems with Deadbeat Response H-68 H-14 Pole-Placement Design with State Feedback H-70