System Dynamics, 2nd Edition

Cover Page\n......Page 1
Title Page\n......Page 4
Copyright Page\n......Page 5
Dedication\n......Page 6
Contents\n......Page 7
Preface......Page 10
About the Author......Page 15
CHAPTER 1: Introduction......Page 16
1.1 Introduction to System Dynamics......Page 17
1.2 Units......Page 22
1.3 Developing Linear Models......Page 24
1.4 Function Identification and Parameter Estimation......Page 30
1.5 Fitting Models to Scattered Data......Page 38
1.6 MATLAB and the Least-Squares Method......Page 44
Problems......Page 52
CHAPTER 2: Modeling of Rigid-Body Mechanical Systems......Page 57
2.1 Translational Motion......Page 58
2.2 Rotation About a Fixed Axis......Page 63
2.3 Equivalent Mass and Inertia......Page 70
2.4 General Planar Motion......Page 76
Problems......Page 85
CHAPTER 3: Solution Methods for Dynamic Models......Page 95
3.1 Differential Equations......Page 96
3.2 Response Types and Stability......Page 107
3.3 The Laplace Transform Method......Page 116
3.4 Transfer Functions......Page 130
3.5 Partial-Fraction Expansion......Page 133
3.6 The Impulse and Numerator Dynamics......Page 143
3.7 Additional Examples......Page 149
3.8 Computing Expansion Coefficients with MATLAB......Page 154
3.9 Transfer-Function Analysis in MATLAB......Page 157
3.10 Chapter Review......Page 163
Problems......Page 165
CHAPTER 4: Spring and Damper Elements in Mechanical Systems......Page 172
4.1 Spring Elements......Page 173
4.2 Modeling Mass-Spring Systems......Page 182
4.3 Energy Methods......Page 191
4.4 Damping Elements......Page 199
4.5 Additional Modeling Examples......Page 208
4.6 Collisions and Impulse Response......Page 220
4.7 MATLAB Applications......Page 223
4.8 Chapter Review......Page 227
Problems......Page 228
CHAPTER 5: State-Variable Models and Simulation Methods......Page 239
5.1 State-Variable Models......Page 240
5.2 State-Variable Methods with MATLAB......Page 251
5.3 The MATLAB ode Functions......Page 257
5.4 Simulink and Linear Models......Page 264
5.5 Simulink and Nonlinear Models......Page 270
5.6 Chapter Review......Page 278
Problems......Page 279
CHAPTER 6: Electrical and Electromechanical Systems......Page 287
6.1 Electrical Element......Page 288
6.2 Circuit Examples......Page 294
6.3 Impedance and Amplifiers......Page 304
6.4 Electric Motors......Page 312
6.5 Analysis of Motor Performance......Page 319
6.6 Sensors and Electroacoustic Devices......Page 329
6.7 MATLAB Applications......Page 332
6.8 Simulink Applications......Page 340
6.9 Chapter Review......Page 343
Problems......Page 344
CHAPTER 7: Fluid and Thermal Systems......Page 354
7.1 Conservation of Mass......Page 355
7.2 Fluid Capacitance......Page 360
7.3 Fluid Resistance......Page 365
7.4 Dynamic Models of Hydraulic Systems......Page 370
7.5 Pneumatic Systems......Page 384
7.6 Thermal Capacitance......Page 387
7.7 Thermal Resistance......Page 389
7.8 Dynamic Models of Thermal Systems......Page 398
7.9 MATLAB Applications......Page 406
7.10 Simulink Applications......Page 410
Problems......Page 415
CHAPTER 8: System Analysis in the Frequency Domain......Page 430
8.1 Frequency Response of First-Order Systems......Page 431
8.2 Frequency Response of Higher-Order Systems......Page 447
8.3 Frequency Response Examples......Page 457
8.4 Filtering Properties of Dynamic Systems......Page 468
8.5 System Identification from Frequency Response......Page 476
8.6 Frequency Response Analysis Using MATLAB......Page 481
8.7 Chapter Review......Page 484
Problems......Page 485
CHAPTER 9: Transient Response and Block Diagram Models......Page 495
9.1 Response of First-Order Systems......Page 497
9.2 Response of Second-Order Systems......Page 505
9.3 Description and Specification of Step Response......Page 513
9.4 Parameter Estimation in the Time Domain......Page 522
9.5 Introduction to Block Diagrams......Page 531
9.6 Modeling Systems with Block Diagrams......Page 538
9.7 MATLAB Applications......Page 547
9.8 Simulink Applications......Page 548
9.9 Chapter Review......Page 551
Problems......Page 552
CHAPTER 10: Introduction to Feedback Control Systems......Page 561
10.1 Closed-Loop Control......Page 562
10.2 Control System Terminology......Page 565
10.3 Modeling Control Systems......Page 566
10.4 The PID Control Algorithm......Page 580
10.5 Control System Analysis......Page 587
10.6 Controlling First-Order Plants......Page 592
10.7 Controlling Second-Order Plants......Page 602
10.8 Additional Examples......Page 610
10.9 MATLAB Applications......Page 624
10.10 Simulink Applications......Page 630
Problems......Page 634
CHAPTER 11: Control System Design and the Root Locus Plot......Page 647
11.1 Root Locus Plots......Page 648
11.2 Design Using the Root Locus Plot......Page 653
11.3 State-Variable Feedback......Page 680
11.4 Tuning Controllers......Page 689
11.5 Saturation and Reset Windup......Page 695
11.6 MATLAB Applications......Page 702
11.7 Simulink Applications......Page 708
11.8 Chapter Review......Page 710
Problems......Page 711
CHAPTER 12: Compensator Design and the Bode Plot......Page 728
12.1 Series Compensation......Page 729
12.2 Design Using the Bode Plot......Page 748
12.3 MATLAB Applications......Page 763
12.4 Simulink Applications......Page 767
Problems......Page 768
CHAPTER 13: Vibration Applications......Page 778
13.1 Base Excitation......Page 779
13.2 Rotating Unbalance......Page 784
13.3 Vibration Absorbers......Page 790
13.4 Modes of Vibrating Systems......Page 798
13.5 Active Vibration Control......Page 807
13.6 Nonlinear Vibration......Page 811
13.7 MATLAB Applications......Page 820
13.8 Chapter Review......Page 822
Problems......Page 823
A. Guide to Selected MATLAB Commandsand Functions......Page 830
B. Fourier Series......Page 837
C. Introduction to MATLAB (on the text website)......Page 839
D. Numerical Methods (on the text website)......Page 868
Glossary......Page 885
Index......Page 888