Includes bibliographical references and index.

Chapter 1: Introduction -- Introduction -- System Configurations -- Servomechanism -- A History of Control Systems -- Analysis and Design Objectives -- The Design Process -- Multivariable Systems -- Computer-Aided Design -- The Control Systems Engineer -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 2: Modeling in the Frequency Domain -- Introduction -- Laplace Transform Review -- The Transfer Function -- Electrical Network Transfer Functions -- Translational Mechanical System Transfer Functions -- Rotational Mechanical System Transfer Functions -- Transfer Functions for Systems With Gears -- Electromechanical System Transfer Functions -- Electric Circuit Analogs -- Nonlinearities -- Linearization -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Hardware Interface Laboratory -- Bibliography -- Chapter 3: Modeling in the Time Domain -- Introduction -- Some Observations -- The General State-Space Representation -- Applying the State-Space Representation -- Converting a Transfer Function to State Space -- Converting From State Space to a Transfer Function -- Linearization -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 4: Time Response Analysis -- Introduction -- Poles, Zeros, and System Response -- First-Order Systems -- Second-Order Systems: Introduction -- The General Second-Order System -- Underdamped Second-Order Systems -- System Response With Additional Poles -- System Response With Zeros -- Effects of Nonlinearities Upon Time Response -- Laplace Transform Solution of State Equations -- Time Domain Solution of State Equations -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Hardware Interface Laboratory -- Bibliography --
Chapter 5: Reduction of Multiple Subsystems -- Introduction -- Block Diagrams -- Analysis and Design of Feedback Systems -- Signal-Flow Graphs -- Mason’s Rule -- Signal-Flow Graphs of State Equations -- Alternative Representations in State Space -- Similarity Transformations -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 6: Stability -- Introduction -- Routh-Hurwitz Criterion -- Routh-Hurwitz Criterion: Special Cases -- Routh-Hurwitz Criterion: Additional Examples -- Stability in State Space -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 7: Steady-State Errors -- Introduction -- Steady-State Error for Unity-Feedback Systems -- Static Error Constants and System Type -- Steady-State Error Specifications -- Steady-State Error for Disturbances -- Steady-State Error for Nonunity-Feedback Systems -- Sensitivity -- Steady-State Error for Systems in State Space -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography --
Chapter 8: Root Locus Techniques -- Introduction -- Defining the Root Locus -- Properties of the Root Locus -- Sketching the Root Locus -- Refining the Sketch -- An Example -- Transient Response Design via Gain Adjustment -- Generalized Root Locus -- Root Locus for Positive-Feedback Systems -- Pole Sensitivity -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Hardware Interface Laboratory -- Bibliography --
Chapter 9: Design via Root Locus -- Introduction -- Improving Steady-State Error via Cascade Compensation -- Improving Transient Response via Cascade Compensation -- Improving Steady-State Error and Transient Response -- Feedback Compensation -- Physical Realization of Compensation -- Tuning of PID Controllers -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Hardware Interface Laboratory -- Bibliography --
Chapter 10: Frequency Response Techniques -- Introduction -- Asymptotic Approximations: Bode Plots -- All-Pass and Nonminimum Phase Systems -- Introduction to the Nyquist Criterion -- Sketching the Nyquist Diagram -- Stability via the Nyquist Diagram -- Gain Margin and Phase Margin via the Nyquist Diagram -- Stability, Gain Margin, and Phase Margin via Bode Plots -- Relation Between Closed-Loop Transient and Closed-Loop Frequency Responses -- Relation Between Closed- and Open-Loop Frequency Responses -- Relation Between Closed-Loop Transient and Open-Loop Frequency Responses -- Steady-State Error Characteristics From Frequency Response -- Systems With Time Delay -- Obtaining Transfer Functions Experimentally -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 11: Design via Frequency Response -- Introduction -- Transient Response via Gain Adjustment -- Lag Compensation -- Lead Compensation -- Lag–Lead Compensation -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 12: Design via State Space -- Introduction -- Controller Design -- Controllability -- Alternative Approaches to Controller Design -- Observer Design -- Observability -- Alternative Approaches to Observer Design -- Steady-State Error Design via Integral Control -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Chapter 13: Digital Control Systems -- Introduction -- Modeling the Digital Computer -- The Z-Transform -- Transfer Functions -- Block Diagram Reduction -- Stability -- Steady-State Errors -- Transient Response on the Z-Plane -- Gain Design on the Z-Plane -- Cascade Compensation via the S-Plane -- Implementing the Digital Compensator -- Summary -- Review Questions -- Problems -- Cyber Exploration Laboratory -- Bibliography -- Appendices and Reference Sections -- Appendix A1: List of Symbols -- Appendix A2: Antenna Azimuth Position Control System -- Appendix A3: Unmanned Free-Swimming Submersible Vehicle -- Appendix A4: Key Equations -- Glossary -- Answers to Selected Problems -- Index.