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River Publishers Series in Automation, Control and Robotics
A First Course in
2nd Edition
environmental controls. The appliances we use, such as the washing
machine, microwave, etc. carry embedded controllers in them. We
Kamran Iqbal
fly in airplanes and drive automobiles that extensively use control
systems. The industrial plants that produce consumer goods run on
process control systems. The recent drive toward automation has
increased our reliance on control systems technology.
This book discusses control systems design from a model-based
perspective for dynamic system models of single-input single-output Kp
type. The emphasis in this book is on understanding and applying
the techniques that enable the design of effective control systems
in multiple engineering disciplines. The book covers both time- e u(t) u
e(t)
domain and the frequency-domain design methods, as well as 1 Kd 1
controller design for both continuous-time and discrete-time
systems. MATLAB© and its Control Systems Toolbox are extensively
used for design. Technical topics discussed in the book include:
∙ Mathematical models of physical systems ∫udt Ki
Kamran Iqbal
∙ Analysis of transfer function and state variable models
∙ Control systems design objectives
dθ r θr − θa
∙ Control system design with root locus Cr
dt
+
Rw
= qi .
∙ Control system design in the state-space
∙ Control system design of sampled-data systems ℎ
∙ Compensator design with frequency response methods
d∆ θ
Rw Cr + ∆ θ = Rw qi .
dt
Foreword by
Professor Emeritus Hooshang Hemami,
River Publishers River Ohio State University River Publishers
A First Course in
Control System Design
2nd Edition
RIVER PUBLISHERS SERIES IN AUTOMATION,
CONTROL AND ROBOTICS
Series Editors:
ISHWAR K. SETHI
Oakland University
USA
TAREK SOBH
University of Bridgeport
USA
Indexing: All books published in this series are submitted to the Web of Science
Book Citation Index (BkCI), to SCOPUS, to CrossRef and to Google Scholar for
evaluation and indexing.
Kamran Iqbal
University of Arkansas
Little Rock, USA
River Publishers
Published, sold and distributed by:
River Publishers
Alsbjergvej 10
9260 Gistrup
Denmark
www.riverpublishers.com
Foreword xi
Preface xiii
Acknowledgement xxi
v
vi Contents
Appendix 281
Index 285
Dr. Kamran Iqbal has assembled a very valuable and comprehensive book on
introductory and applied control. The book contains many tools and much
knowledge about the details of mankind’s and engineers’ everyday imple-
ments, and their control. The concepts, issues, challenges and alternatives are
lucidly and precisely presented.
The material is very well motivated and compactly and pragmatically
presented. Matlab programs and computer tools supplant the discussions and
analytical tools in order to ease the derivations and the conclusions.
A curious and motivated engineer or student of control will have no diffi-
culty following the material, the mathematical developments and derivations,
models of physical systems and interdisciplinary issues. Many examples and
exercises are added to enrich the imagination and creativity of the reader.
Subjects of Transfer Function, State Variables, Root Locus apparatus, Sample
Date systems, Pole Assignment are precisely described. A variety of assigned
problems and questions help the reader to become completely aware of
alternatives and be able to envision different solutions in his or her mind.
The book is equipped with ample explanations, guidance, tools and
encouragement. It will be a valuable tool in all countries of the world with
different educational, industrial and technical facilities and where engineers
are called upon to provide.
Hooshang Hemami
Professor emeritus of electrical and computer engineering
at Ohio State University
April 2020
xi
Preface
The aim of the second edition of A First Course in Control System Design,
similar to the first edition is to present model-based control system design
in a lucid, understandable and approachable manner. The book has been
written with the needs of undergraduates and beginning graduate students
in multiple engineering disciplines and practicing engineers in mind. The
second edition is organized into nine chapters; the first half of the book is
devoted to analysis and the second half to the design of control systems. The
book covers the design of controllers for analog and sampled-data systems
described by transfer function and state variable models. The coverage is
restricted to models of single-input single-output (SISO) systems. Examples
from diverse engineering disciplines are introduced in the first chapter and
carried forward in the later chapters. MATLAB and Control Systems Toolbox
are extensively used for design; occasionally, Symbolic Math Toolbox is also
used. MATLAB scripts for solutions to all book examples are provided.
Control systems, both natural and man made, are pervasive in our lives.
Our homes have environmental controls. The appliances we use at home, such
as the washing machine, microwave, etc. have embedded controllers. We fly
in airplanes and drive automobiles, which make extensive use of control sys-
tems. Our body regulates essential functions like blood pressure, heart-beat,
breathing, and insulin levels in blood, manifesting biological control systems.
The cells in the body regulate our metabolism and energy production using
nutrient levels and electrolytes. The postural stability of the body depends on
regulating body’s center of mass (CoM) over the base of support. Fine motor
control enables the manipulation and locomotion tasks we undertake as part
of daily living. We essentially perform the control function as we walk or
drive a car, the control objective in both cases being to follow a desired course
at a preferred speed.
The industrial revolution in the eighteenth century ushered in the age of
machines that needed automatic controls. As a result, ingenious solutions to
the control problems were developed. An early example involved the use of
centrifugal flyball governor for throttle adjustment to regulate the speed of
xiii
xiv Preface
Figure 1 A generic control system block diagram that includes the controller, process to be
controlled, the actuator and the sensor. The output is fed back and compared with the reference
signal in the comparator.
the steam engine that was essential to industrial progress. Though control
technology quickly developed to solve practical problems, the theoretical
understanding of the control systems and its underlying design process was
developed later in mid-twentieth century. The post WWII era launched the
space age that focused on the optimal design of control systems, and their
implementation via the computing machines. The quest for boosting the
industrial output through factory automation has enabled advancement in the
industrial process control, and in the industrial robots that makes extensive
use of feedback control systems. The growing automation in the past few
decades has increased our reliance on control systems.
A control system aims at realizing a desired behavior at the output of a
device or system (the plant) by manipulating its input through a controller.
Feedback based on observation of the process output via sensing elements
plays and important role in automatic control systems (Figure 1). In the
feedback control systems, the controller monitors the difference between the
desired and actual values of output variables, and adjusts the system inputs
accordingly by employing various control schemes. The control objective,
often, is to reduce the error to zero at a sufficiently fast rate and maintain it
there. The desired output may be expressed as a set point, that is, a constant
value that the controller will try to maintain at the output. Alternatively, in
tracking systems, the objective is to track a time-varying reference input. An
example of the latter is the control system used to make a drone-mounted
camera follow a moving object of interest.
The control system design is invariably undertaken to achieve multiple
objectives. The first and the foremost among them is the stability of the
closed-loop system, as the system outputs affect the inputs in real-time.
The next objective is the dynamic stability or the ability of the controller
to damp out the output oscillations, characterized by the damping ratio of
the dominant response modes. Further, the controller aims to improve the
speed of response, that is reflected by the system bandwidth. The steady-state
response of the closed-loop system, ideally, has a unity transfer function,
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*****