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Figure 4.1 A closed-loop system.
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Figure 4. 2 An open-loop system with a disturbance input, Td(s)
Figure An open-loop system with a disturbance input, Td(s). (a) Signal-flow graph. (b) Block diagram.
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Figure 4. 3 A closed-loop control system. (a) Signal-flow graph
Figure A closed-loop control system. (a) Signal-flow graph. (b) Block diagram.
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Figure 4.4 (a) Open-loop amplifier. (b) Amplifier with feedback.
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Figure 4.5 Block diagram model of feedback amplifier assuming Rp ≫ R0 of the amplifier.
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Figure 4.6 Steel rolling mill.
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Figure 4.7 Open-loop speed control system (without tachometer feedback).
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Figure 4.8 Motor speed–torque curves.
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Figure 4.9 Closed-loop speed tachometer control system.
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Figure 4. 10 Closed-loop system. (a) Signal-flow graph model
Figure Closed-loop system. (a) Signal-flow graph model. (b) Block diagram model.
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Figure 4.11 The speed-torque curves for the closed-loop system.
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Figure 4. 12 Cascade controller system (without feedback)
Figure Cascade controller system (without feedback). (a) Signal-flow graph. (b) Block diagram
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Figure 4.13 Open-loop speed control system (without feedback).
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Figure 4. 14 (a) Closed-loop speed control system
Figure (a) Closed-loop speed control system. (b) Transistorized closed-loop speed control system.
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Figure The response of the open-loop and closed-loop speed control system when Ƭ = 10 and K1KaKt = 100.The time to reach 98% of the final value for the open-loop and closed-loop system is 40 seconds and 0.4 second, respectively.
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Figure The DLR German Aerospace Center is developing an advanced robotic hand. The final goal—fully autonomous operation—has not yet been acheived. Currently, the control is accomplished via a telemanipulation system consisting of a lightweight robot with a four-fingered articulated hand mounted on a mobile platform. The hand operator receives stereo video feedback and force feedback. This information is employed in conjunction with a data glove equipped with force feedback and an input device to control the robot. (Used with permission. Credit: DLR Institute of Robotics and Mechatronics.)
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Figure 4.17 A block diagram model of a boring machine control system.
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Figure The response y(t) to (a) a unit input step r(t) and (b) a unit disturbance step input with Td(s) = 1/s for K = 100.
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Figure The response y(t) for a unit step input (solid line) and for unit step disturbance (dashed line) for K = 20.
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Figure Mars Exploration Rovers are significantly more capable than their predecessor, the Mars Pathfinder Sojourner. (Courtesy of NASA.)
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Figure 4. 21 Control system for the rover
Figure Control system for the rover. (a) Open-loop (without feedback). (b) Closed-loop with feedback.
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Figure 4.22 The magnitude of the sensitivity of the closed-loop system for the Mars rover vehicle.
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Figure Elements of the control system design process emphasized in the blood pressure control example.
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Figure 4.24 Blood pressure control system configuration.
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Figure 4.25 Mean arterial pressure (MAP) impulse response for a hypothetical patient.
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Figure 4.26 System sensitivity to variations in the parameter p.
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Figure 4.27 Mean arterial pressure (MAP) step input response with R(s) = 10/s.
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Figure 4.28 Mean arterial pressure (MAP) disturbance step response.
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Figure 4. 29 Analysis of the open-loop speed control system
Figure Analysis of the open-loop speed control system. (a) Response. (b) m-file script.
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Figure 4. 30 Analysis of the closed-loop speed control system
Figure Analysis of the closed-loop speed control system. (a) Response. (b) m-file script.
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Figure 4.31 The response to a step input when (a) K = 100 and (b) K = 20. (c) m-file script.
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Figure 4.32 The response to a step disturbance when (a) K = 100 and (b) K = 20. (c) m-file script.
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Figure 4. 33 (a) System sensitivity to plant variations (s = jω)
Figure (a) System sensitivity to plant variations (s = jω). (b) m-file script..
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Figure 4.34 Control system for disk drive head reader.
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Figure 4.35 Disk drive head control system with the typical parameters of Table 2.10.
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Figure 4. 36 Closed-loop response. (a) m-file script
Figure Closed-loop response. (a) m-file script. (b) Step response for Ka = 10 and Ka = 80.
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Figure 4. 37 Disturbance step response. (a) m-file script
Figure Disturbance step response. (a) m-file script. (b) Disturbance response for Ka = 80.
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Figure 4. 38 (a) A single-loop feedback control system
Figure (a) A single-loop feedback control system. (b) The error response for a unit step disturbance when R(s) = 0.
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Figure E4.2 Digital audio system.
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Figure E4.3 Robot fruit picker.
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Figure E4.4 Disk drive control.
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Figure E4.6 Four-wheel drive auto.
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Figure E4.7 Depth control system.
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Figure E4.8 Feedback control system.
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Figure E4.9 Closed-loop system with nonunity feedback.
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Figure E4.10 Closed-loop system with nonunity feedback and measurement noise
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Figure E4. 11 Control system for a steel rolling mill
Figure E Control system for a steel rolling mill. (a) Signal flow graph. (b) Block diagram.
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Figure E4.12 Closed-loop feedback system with two parameters, K and K1.
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Figure E4.13 Closed-loop feedback system with K = 120 and K1 = 10.
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Figure P4.1 Tank level control.
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Figure P4. 2 Ship stabilization system
Figure P4.2 Ship stabilization system. The effect of the waves is a torque Td (s) on the ship.
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Figure P4.3 Temperature control system.
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Figure P4.4 Two-path system.
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Figure P4.5 Antenna control system.
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Figure P4.6 Automobile speed control.
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Figure P4.7 Robot control system.
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Figure P4.8 Temperature control system.
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Figure P4.9 Photosensor system.
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Figure P4.10 Paper tension control.
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Figure P4.11 Paper-making control.
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Figure P4.12 Two feedback systems.
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Figure P4.13 Closed-loop system.
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Figure P4.14 Hypersonic airplane speed control.
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Figure P4.15 Ship steering control.
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Figure P4.16 Two-tank temperature control.
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Figure P4.17 Robot gripper control.
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Figure AP4.1 A tank level regulator.
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Figure AP4.2 Robot joint control.
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Figure AP4.3 Machine tool feedback.
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Figure AP4.4 DC motor with feedback.
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Figure AP4.5 Blood pressure control.
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Figure AP4.6 A lead network.
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Figure AP4.7 Feedback system with noise.
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Figure AP4.8 Machine-tool control.
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Figure CDP4.1 The model of the feedback system with a capacitance measurement sensor. The tachometer may be mounted on the motor (optional), and the switch will normally be open.
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Figure DP4.1 Speed control system.
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Figure DP4.2 Control of the roll angle of an airplane.
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Figure DP4.3 Speed control system.
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Figure DP4.4 Laser eye surgery system.
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Figure DP4.5 Op-map circuit.
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Figure DP4. 6 a) Europa exploration under the ice
Figure DP4.6 a) Europa exploration under the ice. (Used with permission. Credit: NASA.) (b) Feedback system.
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Figure CP4.4 A closed-loop negative feedback control system.
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Figure CP4.5 A closed-loop control system with uncertain parameter a.
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Figure CP4. 6 (a) A torsional mechanical system
Figure CP4.6 (a) A torsional mechanical system. (b) The torsional mechanical system feedback control system.
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Figure CP4.7 A simple single-loop feedback control system.
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Figure CP4.8 Closed-loop system with nonunity feedback and measurement noise.
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Figure CP4.9 Closed-loop feedback system with external disturbances.
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Figure CP4.10 Closed-loop system with a sensor in the feedback loop.
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