Dr. Boris J. Lurie 


Classical Feedback Control with MATLAB
Boris J. Lurie and Paul J. Enright, Marcel Dekker, NY, 2000
(470 pp. with 543 figures)
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From the Preface:
Classical Feedback Control describes design and implementation of highperformance feedback controllers for engineering systems. The book emphasizes the frequencydomain approach which is widely used in practical engineering. It presents frequencydomain design methods for highorder SISO and MIMO, linear and nonlinear, analog and digital control systems.
Modern technology allows implementation of highperformance controllers at a very low cost. Conversely, several analysis tools which were previously considered an inherent part of control system courses limit the design to loworder (and therefore lowperformance) compensators. Among these are the rootlocus method, the detection of rightsided polynomial roots using the RouthHurwitz criterion, and manual calculations using the Laplace and Fourier transforms. These methods have been rendered obsolete by computers and are granted only a brief treatment in the book, making room for loop shaping, Bode integrals, structural simulation of complex systems, multiloop systems, and nonlinear controllers, all of which are essential for good design practice.
In the design philosophy adopted by Classical Feedback Control, Bode integral relations play a key role. The integrals are employed to estimate the available system performance and to determine the frequency responses which maximize the disturbance rejection and the feedback bandwidth. This ability to quickly estimate the attainable performance is critical for systemlevel trades in the design of complex engineering systems, of which the controller is one of many subsystems. Only at the final design stage and only for the finally selected option of the system configuration do the compensators need to be designed in detail, by approximation of the already found optimal frequency responses.
Nonlinear dynamic compensation is employed to provide global and process stability, and to improve transient responses. The nearlyoptimal highorder compensators are then economically implemented using analog and digital technology.
The first six chapters support a onesemester course in linear control. The rest of the book considers the issues of complex system simulation, robustness, global stability, and nonlinear control.
It was the authors' intention to make Classical Feedback Control not only a textbook but also a reference for students as they become engineers, enabling them to design highperformance controllers and easing the transition from school to the competitive industrial environment. The methods described in this book were used by the authors and their colleagues as the major design tools for feedback loops of aerospace and telecommunication systems.
MATLAB ® from
MathWorks, Inc. is the most popular
control CAD software
package. Inexpensive student versions of MATLAB with control toolbox and of the
associated block diagram simulation package Simulink ® available at
university bookstores are more than adequate for the examples in this book and
even some professional work. No preliminary knowledge of MATLAB is assumed, and
only a small subset of MATLAB commands is used, listed below in the order of
their introduction:
logspace, bode, conv, tf2zp, zp2tf, step, gtext, title, set, grid,
hold on,
hold off, rlocus, plot(x,y), inv, linspace, lp2lp, lp2bp, format, roots, poly,
inv, bilinear, residue, ezplot, linmod, laplace, invlaplace, impulse.
It is standard procedure to do the preliminary design in MATLAB/Simulink since
it's quick to code up, and when it's complete, to transfer the code to C.
CONTENTS (Chapter 4 and Appendices 11 and 14 are online)
Chapter 1 Feedback and Sensitivity  









































































Appendix 4 Derivation of Bode integrals 




Appendix 6 Generic singleloop feedback system Appendix 7 Effect of feedback on mobility, derivation Appendix 8 Dependence of a function on a parameter Appendix 9 Balanced bridge feedback Appendix 10 Phasegain relation for describing functions 

Appendix 11 Discussions 




Appendix 13 Examples 




Notation
Index
Downloads: Scripts from all chapters and Appendices 1  13, and the Bode Step Toolbox.