Preface to the first edition xi

Acknowledgments xiii

List of commonly used symbols xv

1 Introduction to linear feedback controls 1

2 Systems and signals 15

3 Solving differential equations in the Laplace domain 25

4 Time-discrete systems 51

5 First comprehensive example: the temperature-controlled waterbath 65

6 A tale of two poles: the positioner example and the significance of the poles in the s-plane 87

7 State-space models 109

8 Block diagrams: formal graphical description of linear systems 123

9 Linearization of nonlinear components 133

10 Stability analysis for linear systems 145

11 The root locus method 157

12 Frequency-domain analysis and design methods 177

13 Robustness of feedback control systems 203

14 Building blocks of linear systems 219

15 The PID controller 253

16 Design of feedback controls 275

17 Application and design examples 297

A Laplace correspondence tables 363

B Z-transform correspondence tables 367

C Relevant Scilab commands 369

References and further reading 371

Index 373