Get the full ebook with Bonus Features for a Better Reading Experience on ebookmeta.

com

State Feedback Control and Kalman Filtering with

MATLAB/Simulink Tutorials (IEEE Press) 1st Edition
Liuping Wang

https://ebookmeta.com/product/state-feedback-control-and-
kalman-filtering-with-matlab-simulink-tutorials-ieee-
press-1st-edition-liuping-wang/

OR CLICK HERE

DOWLOAD NOW

Download more ebook instantly today at https://ebookmeta.com

 Recommended digital products (PDF, EPUB, MOBI) that
you can download immediately if you are interested.

An Introduction to Scientific Computing with MATLAB and

Python Tutorials 1st Edition Sheng Xu

https://ebookmeta.com/product/an-introduction-to-scientific-computing-
with-matlab-and-python-tutorials-1st-edition-sheng-xu/

ebookmeta.com

Reinforcement Learning: Optimal Feedback Control with

Industrial Applications Jinna Li

https://ebookmeta.com/product/reinforcement-learning-optimal-feedback-
control-with-industrial-applications-jinna-li/

ebookmeta.com

Automatic Control Systems: With MATLAB, 2nd Edition S.

Palani

https://ebookmeta.com/product/automatic-control-systems-with-
matlab-2nd-edition-s-palani/

ebookmeta.com

Palliative Care in Hematologic Malignancies and Serious

Blood Disorders A Clinical Guide 1st Edition Christina K
Ullrich Eric J Roeland
https://ebookmeta.com/product/palliative-care-in-hematologic-
malignancies-and-serious-blood-disorders-a-clinical-guide-1st-edition-
christina-k-ullrich-eric-j-roeland/
ebookmeta.com
Foundation Mathematics GCSE for Edexcel Student Book
Answers 1st Edition Karen Morrison

https://ebookmeta.com/product/foundation-mathematics-gcse-for-edexcel-
student-book-answers-1st-edition-karen-morrison/

ebookmeta.com

Social Psychology of Pictures 1st Edition Pascal Moliner

https://ebookmeta.com/product/social-psychology-of-pictures-1st-
edition-pascal-moliner/

ebookmeta.com

Insight Guides Poland Travel Guide eBook 4th Edition

Insight Guides

https://ebookmeta.com/product/insight-guides-poland-travel-guide-
ebook-4th-edition-insight-guides/

ebookmeta.com

Journey of the Universe Expounded in the Quran 1st Edition

Shaykh Fadhlalla Haeri

https://ebookmeta.com/product/journey-of-the-universe-expounded-in-
the-quran-1st-edition-shaykh-fadhlalla-haeri/

ebookmeta.com

Biology Concept and Investigation 5th 5th Edition Marielle

Hoefnagels

https://ebookmeta.com/product/biology-concept-and-
investigation-5th-5th-edition-marielle-hoefnagels/

ebookmeta.com
Rose s Rescue Westward Home and Hearts Mail Order Brides
17 1st Edition Cat Cahill

https://ebookmeta.com/product/rose-s-rescue-westward-home-and-hearts-
mail-order-brides-17-1st-edition-cat-cahill/

ebookmeta.com
State Feedback Control and Kalman Filtering
with MATLAB/Simulink Tutorials
State Feedback Control and Kalman Filtering
with MATLAB/Simulink Tutorials

Liuping Wang and Robin Ping Guan

This edition first published 2023
© 2023 John Wiley & Sons Ltd

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or
otherwise, except as permitted by law. Advice on how to obtain permission to reuse material
from this title is available at http://www.wiley.com/go/permissions.

The right of Liuping Wang and Robin Ping Guan to be identified as the authors of this work has
been asserted in accordance with law.

Registered Office
John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK

Editorial Office
The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK

For details of our global editorial offices, customer services, and more information about Wiley
products visit us at www.wiley.com.

Wiley also publishes its books in a variety of electronic formats and by print-on-demand. Some
content that appears in standard print versions of this book may not be available in other
formats.

Limit of Liability/Disclaimer of Warranty

MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks
does not warrant the accuracy of the text or exercises in this book. This work’s use or discussion
of MATLAB® software or related products does not constitute endorsement or sponsorship by
The MathWorks of a particular pedagogical approach or particular use of the MATLAB®
software. While the publisher and authors have used their best efforts in preparing this work,
they make no representations or warranties with respect to the accuracy or completeness of the
contents of this work and specifically disclaim all warranties, including without limitation any
implied warranties of merchantability or fitness for a particular purpose. No warranty may be
created or extended by sales representatives, written sales materials or promotional statements
for this work. The fact that an organization, website, or product is referred to in this work as a
citation and/or potential source of further information does not mean that the publisher and
authors endorse the information or services the organization, website, or product may provide
or recommendations it may make. This work is sold with the understanding that the publisher is
not engaged in rendering professional services. The advice and strategies contained herein may
not be suitable for your situation. You should consult with a specialist where appropriate.
Further, readers should be aware that websites listed in this work may have changed or
disappeared between when this work was written and when it is read. Neither the publisher nor
authors shall be liable for any loss of profit or any other commercial damages, including but not
limited to special, incidental, consequential, or other damages.

Library of Congress Cataloging-in-Publication Data is Applied for:

Hardback ISBN: 9781119694632

Cover Design: Wiley

Cover Image: © fotoslaz/Shutterstock.com

Set in 9.5/12.5pt STIXTwoText by Straive, Chennai, India

To

Jianshe
 vii

Contents

Author Biography xiii

Preface xv
Acknowledgments xxi
List of Symbols and Acronyms xxiii
About the Companion Website xxv

Part I Continuous-time State Feedback Control 1

1 State Feedback Controller and Observer Design 3

1.1 Introduction 3
1.2 Motivation for Going Beyond PID Control 4
1.3 Basics in State Feedback Control 12
1.3.1 State Feedback Control 12
1.3.2 Controllability 18
1.3.3 Food for Thought 21
1.4 Pole-assignment Controller 21
1.4.1 The Design Method 21
1.4.2 Similarity Transformation for Controller Design 24
1.4.3 MATLAB Tutorial on Pole-assignment Controller 27
1.4.4 Food for Thought 29
1.5 Linear Quadratic Regulator (LQR) Design 29
1.5.1 Motivational Example 29
1.5.2 Linear Quadratic Regulator Design 32
1.5.3 Selection of Q and R Matrices 34
1.5.4 LQR with Prescribed Degree of Stability 39
1.5.5 Food for Thought 46
1.6 Observer Design 47
1.6.1 Motivational Example for Observer 47
viii Contents

1.6.2 Observer Design 50

1.6.3 Observability 53
1.6.4 Duality between Controller and Observer 55
1.6.5 Observer Implementation 56
1.6.6 Food for Thought 57
1.7 State Estimate Feedback Control System 58
1.7.1 State Estimate Feedback Control 58
1.7.2 Separation Principle 59
1.7.3 Food for Thought 60
1.8 Summary 61
1.9 Further Reading 62
Problems 63

2 Practical Multivariable Controllers in Continuous-time 67

2.1 Introduction 67
2.2 Practical Controller I: Integral Action via Controller Design 68
2.2.1 The Original Control Law 68
2.2.2 Integrator Windup Scenarios 69
2.2.3 Proposed Practical Multivariable Controller 71
2.2.4 Anti-windup Implementation 74
2.2.5 MATLAB Tutorial on Design and Implementation 77
2.2.6 Application to Drum Boiler Control 85
2.2.7 Food for Thought 91
2.3 Practical Controller II: Integral Action via Observer Design 92
2.3.1 Integral Control via Disturbance Estimation 92
2.3.2 Anti-windup Mechanism 95
2.3.3 MATLAB Tutorial on Design and Implementation 96
2.3.4 Application to Sugar Mill Control 102
2.3.5 Design for Systems with Known States 103
2.3.6 Food for Thought 106
2.4 Drive Train Control of a Wind Turbine 107
2.4.1 Modelling of Wind Turbine’s Drive Train 107
2.4.2 Configuration of The Control System 110
2.4.3 Design Method I 111
2.4.4 Design Method II 115
2.4.5 MATLAB Tutorial on Design Method II 116
2.4.6 Food for Thought 121
2.5 Summary 121
2.6 Further Reading 122
Problems 122
 Contents ix

Part II Discrete-time State Feedback Control 127

3 Introduction to Discrete-time Systems 129

3.1 Introduction 129
3.2 Discretization of Continuous-time Models 130
3.2.1 Sampling of a Continuous-time Model 130
3.2.2 Stability of Discrete-time System 133
3.2.3 Examples of Discrete-time Models from Sampling 134
3.2.4 Food for Thoughts 141
3.3 Input and Output Discrete-time Models 142
3.3.1 Input and Output Models 142
3.3.2 Finite Impulse Response and Step Response Models 144
3.3.3 Non-minimal State Space Realization 148
3.3.4 Food for Thought 148
3.4 z-Transforms 149
3.4.1 z-Transforms for Commonly Used Signals 149
3.4.2 z-Transfer Functions 152
3.4.3 Food for Thought 154
3.5 Summary 155
3.6 Further Reading 156
Problems 156

4 Discrete-time State Feedback Control 161

4.1 Introduction 161
4.2 Discrete-time State Feedback Control 161
4.2.1 Basic Ideas 161
4.2.2 Controllability in Discrete-time 165
4.2.3 Food for Thought 167
4.3 Discrete-time Observer Design 167
4.3.1 Basic Ideas about Discrete-time Observer 167
4.3.2 Observability in Discrete-time 171
4.3.3 Food for Thought 173
4.4 Discrete-time Linear Quadratic Regulator (DLQR) 173
4.4.1 Objective Function for DLQR 173
4.4.2 Optimal Solution 174
4.4.3 Observer Design using DLQR 176
4.4.4 Food for Thought 176
4.5 Discrete-time LQR with Prescribed Degree of Stability 177
4.5.1 Basic Ideas about a Prescribed Degree of Stability 177
4.5.2 Case Studies 180
x Contents

4.5.3 Food for Thought 186

4.6 Summary 186
4.7 Further Reading 187
Problems 188

5 Disturbance Rejection and Reference Tracking via Observer

Design 195
5.1 Introduction 195
5.2 Disturbance Models 195
5.2.1 Commonly Encountered Disturbance Signals 196
5.2.2 State Space Model with Input Disturbance 199
5.2.3 Food for Thought 200
5.3 Compensation of Input and Output Disturbances in
Estimation 200
5.3.1 Motivational Example 200
5.3.2 Input Disturbance Observer Design 202
5.3.3 MATLAB Tutorial for Augmented State Space Model 206
5.3.4 The Observer Error System 207
5.3.5 Output Disturbance Observer Design 209
5.3.6 Food for Thought 213
5.4 Disturbance-Observer-based State Feedback Control 214
5.4.1 The Control Law 214
5.4.2 MATLAB Tutorial for Control Implementation 217
5.4.3 Food for Thought 222
5.5 Analysis of Disturbance-Observer-based Control System 223
5.5.1 Controller Transfer Function 223
5.5.2 Disturbance Rejection 225
5.5.3 Reference Tracking 227
5.5.4 A Case Study 228
5.5.5 Food for Thought 232
5.6 Anti-windup Implementation of the Control Law 233
5.6.1 Algorithm for Anti-windup Implementation 233
5.6.2 Heating Furnace Control 236
5.6.3 Example for Bandlimited Disturbance 239
5.6.4 Food for Thought 241
5.7 Summary 242
5.8 Further Reading 243
Problems 243
 Contents xi

6 Disturbance Rejection and Reference Tracking via Control

Design 253
6.1 Introduction 253
6.2 Embedding Disturbance Model into Controller Design 254
6.2.1 Formulation of Augmented State Space Model 254
6.2.2 MATLAB Tutorial 256
6.2.3 Controllability and Observability 258
6.2.4 Food for Thought 259
6.3 Controller and Observer Design 260
6.3.1 Controller Design and Control Signal Calculation 260
6.3.2 Adding Reference Signal 262
6.3.3 Observer Design and Implementation 262
6.3.4 MATLAB Tutorial for Control Implementation 264
6.3.5 Food for Thought 268
6.4 Practical Issues 269
6.4.1 Reducing Overshoot in Reference Tracking 269
6.4.2 Anti-windup Implementation 272
6.4.3 Control System using NMSS Realization 276
6.4.4 Food for Thought 282
6.5 Repetitive Control 283
6.5.1 Basic Ideas about Repetitive Control 283
6.5.2 Determining the Disturbance Model D(z) 285
6.5.3 Robotic Arm Control 290
6.5.4 Food for Thought 295
6.6 Summary 295
6.7 Further Reading 296
Problems 296

Part III Kalman Filtering 309

7 The Kalman Filter 311

7.1 Introduction 311
7.2 The Kalman Filter Algorithm 312
7.2.1 State Space Models in the Kalman Filter 312
7.2.2 An Intuitive Computational Procedure 313
7.2.3 Optimization of Kalman Filter Gain 315
7.2.4 Kalman Filter Examples with MATLAB Tutorials 317
xii Contents

7.2.5 Compensation of Sensor Bias and Load Disturbance 325

7.2.6 Food for Thought 330
7.3 The Kalman Filter in Multi-rate Sampling Environment 331
7.3.1 KF Algorithm for Missing Data Scenarios 331
7.3.2 Case Studies with MATLAB Tutorial 333
7.3.3 Food for Thought 344
7.4 The Extended Kalman Filter (EKF) 344
7.4.1 Linearization in Extended Kalman Filter 344
7.4.2 The Extended Kalman Filter Algorithm 348
7.4.3 Case Studies with MATLAB Tutorial 351
7.4.4 Food for Thought 359
7.5 The Kalman Filter with Fading Memory 359
7.5.1 The Algorithm for KF with Fading Memory 360
7.5.2 Food for Thought 363
7.6 Relationship between Kalman Filter and Observer 364
7.6.1 One-step Kalman Filter Algorithm 364
7.6.2 Kalman Filter and Observer 365
7.6.3 Food for Thought 370
7.7 Summary 371
7.8 Further Reading 372
Problems 372

8 Addressing Computational Issues in KF 377

8.1 Introduction 377
8.2 The Sequential Kalman Filter 377
8.2.1 Basic Ideas about Sequential Kalman Filter 377
8.2.2 Non-diagonal R 382
8.2.3 MATLAB Tutorial for Sequential Kalman Filter 383
8.2.4 Food for Thought 387
8.3 The Kalman Filter using UDU T Factorization 388
8.3.1 Gram-Schmidt Orthogonalization Procedure 388
8.3.2 Basic Ideas 390
8.3.3 Sequential Kalman Filter with UDU T Decomposition 393
8.3.4 MATLAB Tutorial 395
8.3.5 Food for Thought 398
8.4 Summary 398
8.5 Further Reading 399
Problems 399

Bibliography 403
Index 413
 xiii

Author Biography

Liuping Wang, PhD, is a Professor of Control Engineering at RMIT University,

Australia. She obtained her PhD from the Department of Control Engineering at
the University of Sheffield, UK. Professor Wang gained substantial process control
experience by working in the Chemical Engineering Department at the University
of Toronto, Canada, and the Center for Integrated Dynamics at the University of
Newcastle, Australia. She is the author of five books in systems and control.

Robin Ping Guan, PhD, obtained his Masters degree in Electrical Engineering
from the University of Melbourne in 2014 and his PhD degree from RMIT
University, Australia in 2019. He is a research fellow in RMIT University and is
the co-author of the book on state feedback control and Kalman filter.
 Another Random Document on
Scribd Without Any Related Topics
The Project Gutenberg eBook of Last winter in
the United States
This ebook is for the use of anyone anywhere in the United States
and most other parts of the world at no cost and with almost no
restrictions whatsoever. You may copy it, give it away or re-use it
under the terms of the Project Gutenberg License included with this
ebook or online at www.gutenberg.org. If you are not located in the
United States, you will have to check the laws of the country where
you are located before using this eBook.

Title: Last winter in the United States

being table talk collected during a tour through the late
Southern Confederation, the Far West, the Rocky
Mountains, &c.

Author: F. Barham Zincke

Release date: January 12, 2024 [eBook #72696]

Language: English

Original publication: London: John Murray, 1868

Credits: Bob Taylor, Susan Skinner and the Online Distributed

Proofreading Team at https://www.pgdp.net (This file was
produced from images generously made available by The
Internet Archive)

*** START OF THE PROJECT GUTENBERG EBOOK LAST

WINTER IN THE UNITED STATES ***
 LAST WINTER
IN
THE UNITED STATES
BEING

TABLE TALK

COLLECTED DURING A TOUR THROUGH THE LATE SOUTHERN

CONFEDERATION, THE FAR WEST, THE ROCKY MOUNTAINS, &c.

By F. BARHAM ZINCKE
VICAR OF WHERSTEAD AND CHAPLAIN IN ORDINARY TO THE QUEEN

LONDON JOHN MURRAY, ALBEMARLE STREET 1868

The right of translation is reserved

 TO MY WIFE
I Dedicate these Pages
BECAUSE, WHILE OF ALL WOMEN I AM ACQUAINTED WITH SHE
WOULD HAVE BEEN MOST CAPABLE OF ENTERING INTO THE
INTEREST OF THE SCENES AND OF THE STATE OF SOCIETY THEY
DESCRIBE, SHE DETERMINED, FOR THE SAKE OF HER ONLY CHILD,
TO FOREGO THAT PLEASURE; AND URGED ME NOT TO LOSE, FROM
CONSIDERATION FOR HER, AN OPPORTUNITY FOR CARRYING OUT A
LONG-CHERISHED WISH TO VISIT THE UNITED STATES OF AMERICA.
Wherstead Vicarage:
Nov. 24, 1868.
 CONTENTS.

CHAPTER I.
PAGE
e Winter Voyage recommended—A Cabin to oneself may then
be had at no additional cost—Advantages of Travelling in
1
America in Winter—A Feeling in a Gale—The Americans on
board the Steamer—Divine Service on Board
CHAPTER II.
w York—Menu at Fifth Avenue Hotel—How Travel in the States
may be arranged for a Winter Tour—The Queen’s Book in
America—External Appearance of New York—Ignorance of
English Immigrants—Industrial Schools—Children’s Aid
Society—Number of Churches—Broad Views general—A
8
Service at the Rev. H. W. Beecher’s Church—Episcopalian
Broad Church Club—Chapels in poor Districts annexed to
Episcopal Churches in rich ones—American Churches worked
at High Pressure—An American Divine’s Opinion of a
Minister’s Duty
CHAPTER III.
y an unreasonable Fancy was acted on—The History of the
Cause of American Progressiveness—What passes in
24
America important to us—The Northern States sown
broadcast with Houses
CHAPTER IV.
e Locomotive in the Streets—In Baltimore Public Opinion first 32
becomes Southern—Growth and Prospects of Baltimore—On
Trading Politicians and Ill-will to England—Why an American
 Tutor thought necessary for an Englishman—Repudiation—
The Masses and Middle Class in favour of it—Arguments in
favour of it—An Argument used 2,000 Miles from Wall Street
—Why Republicans bound to repudiate—Americans addicted
to Abstract Reasoning—Instances
CHAPTER V.
shington—Style of Speaking in Congress—Congress no
Nursery for Statesmen—Society in Washington—Episcopal
Church in Washington—Some Opinions of an American
Bishop—Commissioner of Agriculture—Use of the
Department—Its Museum gives an Idea of the Vastness of the
Country—Its Natural Advantages—What Variety of
Productions has done for England will be repeated in America
—Special Excellence of Californian Productions—The
44
Californian himself—California compared with Italy—Why
Coloured Waiters preferable to White—Negro Funeral with
Masonic Honours—American Birds’ Nests—Bill for making
Education compulsory—Coloured Schools—Comparative
Intelligence of the Negro—Vulgar Errors about Americans—
Night Attendants at Hotel read ‘Oliver Twist’—Capitol—
Treasury—Patent Office—What our Diplomacy in America
should be—Use of Iced Water
CHAPTER VI.
hmond—Way by the Battle-fields—Handiness of American
Soldiers—Effect of Slavery on the Virginian Landscape—
Appearance of American Forest—Republican Relations of
Father and Son—State of Feeling in Virginia—Billiards in
America—Why Richmond Millers undersold by Californian— 67
Why American Cities are Large—American Living—Prospects
of Richmond—Indications of Southern Climate in Richmond—
Church-matters in Richmond—Interest that attaches to
Richmond, and to the Heroism of the South
CHAPTER VII.
w Southerners describe their own Condition—Each State must 91
 be taken separately—Missouri—Tennessee—Kentucky—
Texas—Virginia—Georgia—Florida—North Carolina—
Arkansas—South Carolina—Louisiana—Mississippi—Will the
Blacks get the Franchise?—No party considers them fit—They
will have it for a time—This will weaken the repudiating party
—Also the party hostile to this country—The Blacks will not all
be republican—The South should have been left alone to
settle the Labour Question—The Bureau suggested false
ideas—There will be no war of races—What will kill out the
Blacks—The rate of this—Fusion physically impossible—
Means of Communication in the South indicate its condition
CHAPTER VIII.
st Sight of a Cotton-field—Spanish Moss—A Night on the Rails
—Many kinds of sameness in America—Maize—Order of
Succession in the Forest—Its extent—Evergreens in the
Southern Forest—Poor land in the South may be more
profitable than rich land in the West—Deadness of Charleston
—Its Hotels—A Charleston Sam Weller—The Naples of the
109
United States—Few English Travellers—Sufferings of
Southern Families—Want of schools—How the deficiency is
being supplied—Blacks should be put on same footing as
Whites—Dialogue with Black Member of Convention—
Another Convention—Able Black Member—South Carolina
Orphan Asylum
CHAPTER IX.
d in South Carolina and Georgia—Curious appearance of Ice— 126
Time not valued in the South—Why Americans will not
cultivate the Olive—Tea might grow in Georgia—Atlanta
bound to be great—Cattle badly off in winter—A Virginian’s
Recollection of the War—His Position and Prospects—
Approach to Mobile by the Alabama River—Mobile—The
Harbour—Why no American Ships there—A Day on the Gulf
—Ponchatrain—New Orleans—French Sunday Market—
French appearance of Town—A New Orleans Gentleman on
the Episcopal Church—Bishop Elect of Georgia—Mississippi
 —The Cemeteries—Expensiveness of everything—
Transatlantic News—Fusion of North and South—French Half-
breeds—Roads—The best in the World—Approach to New
Orleans by land—Sugar Plantations—A Prayer for a Brother
Minister
CHAPTER X.
only Delay on an American Railway—No concealing one’s
Nationality—Railway Cow-plough—Pistols—Memphis—
Emigration from the South deprecated—True Method of
Resuscitation—The Minister’s Study—Conversation with two
Ministers—Invitation to ‘go to Church’ 150 Miles off—Luxury
146
does not sap the Military Spirit—Mrs. Read—Entry into Eden
—Share a Bed-room with a Californian—How California was
civilised—How a Site upon the Swamp was created for Cairo
—Decline the fourth part of a Bed-room at Odin—‘Be good to
yourself’
CHAPTER XI.
sissippi frozen over at St. Louis—Why the Bridge at St. Louis is
built by Chicago Men—General Sherman—Ideas about
Education at St. Louis—Liberal Bequests for Educational
Purposes—How New Englandism leavens the whole Lump—
The German Invasion will not Germanise America—St. Louis 164
—Its rapid Growth—Its Church Architecture—An Idea on
Mental Culture from the West Bank of the Mississippi—A
Thought suggested by hearing the Skaters on the Mississippi
talking English
CHAPTER XII.
tance of American Kindliness—Red-skins and Half-breeds on 172
the Rails—Cincinnati and its Inhabitants—What may be made
of Pigs—The influence of its Pork-crop—Machinery for Killing
and Curing—Improving effect American Equality has on the
highest and lowest Class—Churches only unprosaic Buildings
in American Towns—Schools—Merits of Philadelphian style of
 City-building not obvious—In what it consists—America has
but one City—No. 24, G Street, corner of 25th Street
CHAPTER XIII.
e Valley of the Ohio—Much of the United States will produce
Wine—Illinois at Night—First View of Lake Michigan—
Chicago—A Sign of outward Religion—‘Small-pox here’—Fire
Alarm—Liberality of Chicago Merchants—The Dollar not all-in-
all—A Church lighted from the Roof—A handsome American
—America has developed a new type of Features—Chicago
Schools—An exception to the American way of denouncing 182
the official Class—Chicago Sunday Schools—Programme of
one I attended—Excellence of Water at Chicago—How
supplied—Lifting up the City—Post Office Arrangements—A
disadvantage of frequent change of Clerks—Americans on
Aristocracy—How the Germans, the masses of the people,
and the upper class feel towards it
CHAPTER XIV.
irie from Chicago to Omaha—Plains from North Platte to the
Mountains—Omaha, the intersection of the Pacific Railway
and the Missouri—Temporary Bridge over the Missouri—
Indifference to Risks affecting Life—A Prairie Fire—The Forest
on the Mountains on Fire—Fire the cause of the Treelessness
of the Prairies—First found Animal Life abounding in the
Valley of the Platte—‘The hardest place, Sir, on this 202
Continent’—Its Predecessor—How it is possible to establish
Lynch Law at Shyenne—My first Night in Shyenne—A second
Night in Shyenne—Necessity and advantages of Lynch Law
—‘The use of the Pistol’—A Man shot because ‘he might have
done some mischief’—Newness of Aspects both of Society
and of Nature
CHAPTER XV.
e Armament and Experience of a German Herdmaster—A 221
Stage Coach on the Plains—The Party in the Coach—The
only Colonel I met in the United States—The Colonel’s Wife—
 A Colorado Herdmaster—A Philadelphian Graduate—Two
jocose Denver Storekeepers—Advantage of having one’s
Rifle in the Coach—A Californian’s account of a Skirmish with
Indians—Manners and Life at a house on the Plains—A Lady
of the Plains—American Society judges Men fairly—Between
Shyenne and Denver
CHAPTER XVI.
e City of Denver—The Ladies give a Ball—Manners of Denver
—‘Quite our finest Gentleman’—The Plains will be to America
an improved Australia—The advantages they offer for Flocks 233
and Herds—Will soon be clear of Indians—Markets now
opened to them—Size of the Runs—Wealth of the Region
CHAPTER XVII.
e Rocky Mountains—Golden City—Golden Gates—Mining
Towns—Neighbouring Mountains stripped of every Tree—
What grows on the Mountains—American Horses—Roads
241
and Bridges they have to pass—How, six-in-hand, we went
down a Hillside in the Mountains—A nice Distinction as to
Accidents on this Hill—Climate—Wind-storms—Birds—Dogs
CHAPTER XVIII.
cky Mountains a Field for Sporting—Great variety and
abundance of Game—Wild Fruit—Excellence of Climate in the
shooting season—How the Mountains may be reached, and
how much seen by the way, in 15 days from Liverpool—Cost
of the Expedition—The best Camping Ground is the South
249
Park at foot of Pike’s Peak—The Route by Chicago and
Denver recommended—Other Route by St. Louis and
Leavenworth—Route into the Park—The North Park easier
work—The more enterprising may go to Laramie Plains—Will
deteriorate every year
CHAPTER XIX.
el Cars, real First-class Carriages—An Editor on his 258
Countrymen’s Knowledge—American Grandiloquence—Of
 whom this is said—Necessary to repeat some of what one
hears—‘Have you seen our Forest?’—‘The Pacific Rails will
carry the commerce of the world’—Large Acquaintance
Americans have—An American on Letters of Introduction—
Niagara—The American and Canadian Falls—What is in the
mind magnifies what one sees—The Stone Trough it has
chipped out—Ice Bridge—How Niagara is pronounced—A
Week of Canadian Weather—A Snow-bound Party at Niagara
CHAPTER XX.
ucational Department at Toronto—Canadian Arguments against
Common Schools—A Canadian’s Opinion on Secular Schools
in England—How the Canadians’ Objections are met in the
United States—Upper Canadians not yet a People—
Advantages possessed by Upper Canada—Service at the
269
Romanist and Anglican Cathedrals—Unmannerly Behaviour
permitted on Canadian Railways—Badness of their Carriages
—Why Canada is not ‘the Land of Freedom’—Yankee
Smartness in Train-driving—Picturesqueness of Vermont—
Travelling on American Railways not fatiguing
CHAPTER XXI.
ston is the Hub of America—Mr. Ticknor—Professor Rogers and
the Technological—Mr. Norton—Professor Agassiz—Mr.
Appleton and Mr. Longfellow—Mr. Philbrick—A Grammar 279
School Commemoration—Humility of the better Literary Men
of Boston—Regret at leaving Boston
CHAPTER XXII.
erican Hotels—Why some People in America travel without any 286
Luggage—Conversation at Tables-d’hôte should be
encouraged—The Irish, the African, and the Chinese—Can a
Republic do without a Servile Class?—What will be the
ultimate Fate of these three races in America—No Children—
Motives—Means—Consequences—Why many young Men
and young Women make Shipwreck of Happiness in America
—The course many Families run—America the Hub of the
World
CHAPTER XXIII.
American Common Schools—Conclusion 299
 INTRODUCTION.

No one would now think of writing a continuous narrative of travel in

the United States of America. The only alternative hitherto adopted
has been that of Essays on American subjects. But towards these
the opinion of the reading public has not been so favourable as to
make one desirous of adding to their number. There appears,
however, to be another form, as yet, I believe, untried, in which he
who has travelled in a country, about which people know much, but
from which they are still desirous of hearing something more, may
present to the reader what he has to say. He may write, I mean,
somewhat in the fashion of a book of table-talk. This he may do by
confining himself just to what he knows would be listened to with
interest in a company of intelligent persons who had some
acquaintance with the subject; and by putting what he has to say of
this kind with the conciseness, and, if possible, with the point,
required in conversation. This would render it necessary that the
book should consist rather of paragraphs than of chapters; and that
these should frequently have little or no connection; many of them
being very brief, because they will contain merely some observation,
or the notice of some fact, for which half a dozen lines will suffice. It
is in this way that I now propose to write about America, trusting that
by so doing I shall spare my readers’ time and patience.
 A WINTER
IN

THE UNITED STATES.

 CHAPTER I.
THE WINTER VOYAGE RECOMMENDED—A CABIN TO ONE’S
SELF MAY THEN BE HAD AT NO ADDITIONAL COST—
ADVANTAGES OF TRAVELLING IN AMERICA IN WINTER—A
FEELING IN A GALE—THE AMERICANS ON BOARD THE
STEAMER—DIVINE SERVICE ON BOARD.
I would recommend the man who begins to feel the effects of long-
continued professional labour, or of an idle and luxurious life, if his
constitution is still capable of amendment, to try what may be gained
by a voyage across the Atlantic, and back again, in winter; with such
an interval between the two as he might be able to allow for a tour in
the United States. In the summer the weather is likely to be so fine
that the only benefit he would derive from his two voyages would be
that of breathing the air of the ocean for as many days as he would
spend in making them; but in winter there would be almost a
certainty of some rough weather; and if after a few days he should
prove capable of resisting the usual disturbing effects of such
weather at sea, and come to take a pleasure in facing and battling
against boisterous winds and tossing waves, I do not know what
could more rapidly brace up within him what had begun to fail. Even
the mere finding of one’s sea-legs, and the subsequent use of them
under difficulties, would not be unattended with advantage, for I
suppose it would bring into action and develope muscles not much
used at other times. In winter, too, the air would be cool (it is not at
all necessarily cold at that season on the track between England and
America, except when one nears the American coast), and this
coolness of the air would of itself have with many constitutions an
invigorating effect. But be the process what it may by which your two
ocean voyages bring about their renovating result, that result is that
you return to your home a stronger and a hungrier man than you
were before you left it.
 There is always much inconvenience and
discomfort in sharing at sea the few square feet a Advantages of
cabin contains with another man, however Travelling in
gentlemanly he may be; and it is not improbable Winter.
that one taken promiscuously from a hundred and
fifty Transatlantic travellers would possess some habit or infirmity
which would render such close companionship almost insufferable.
In summer you cannot avoid this misery except at a great cost. To be
alone at that season you must pay the fare of the one or two
additional berths in your cabin which you wish should remain
unoccupied. But in winter the number of passengers being always
less than the number of berths, you can stipulate for a cabin to
yourself without being put to any additional expense. There are now
so many competing lines of steamers to America, that neither on the
outward nor homeward voyage will you find any difficulty on this
head. And you need not scruple about asking for this
accommodation, for it may be granted to you without at all lessening
either the profits of the owners of the ship, or the comforts of any one
of the passengers.
Travelling also on the terra firma of America in winter has its
advantages. At this season of the year you find everybody at home;
and if your object is rather to see the people than the country in
which they live, this will alone outweigh all other considerations. The
Americans being the most locomotive people in the world, are
seldom to be found at home in summer. I travelled through the
States in the winter and the early spring, and had letters of
introduction to persons in every city I stayed at, and in no instance
did I find anyone absent from home, with the single exception of a
gentleman who happened to be just at that time discharging his
duties as Member of Congress at Washington, whereas the letter
which had been given me was directed to him at his house at
Chicago, where I presented it. In winter, also, one escapes the
persecutions of the mosquitoes, and of the creeping things that bite
in beds, of the withering heat, and tormenting dust—those inevitable
concomitants of travel under an American summer sun.
 What is lost by confining one’s travels in America to the
(botanically) dead season of the year is, that nothing is seen of the
summer and autumn aspects of the vegetation of the country. Its
winter aspect, however, is not without interest to the Englishman,
whose eye is accustomed to the perennial green of his own parks
and meadows, which are generally, indeed, even greener at
Christmas than at Mid-summer. While in America I did not see in the
winter and early spring a blade of grass that was even faintly tinted
with green, from Canada to the Gulf of Mexico, or from New York to
the Rocky Mountains. I was told that the blue grass of parts of
Kentucky and Virginia is an exception, but of this I saw nothing
myself. I found the roadsides, pastures, and prairies everywhere
clothed in unrelieved drab.
To look out from one of the Cunard Company’s magnificent steam-
ships, where everything is going on with the precision of clockwork,
while a gale is raging on the ocean around you, and to see that in
the Mid-Atlantic you are master of the winds and waves, makes you
feel that it is something to be a man.
As I was going to America to see the Americans,
I took the first opportunity which presented itself— American
that of the voyage to America—for weighing and Fellow-
measuring the specimens of that very compound Passengers.
race who happened to be on board the ship in
which I was sailing. About half the passengers, forty-five in all, were
of German extraction; and about half of this half were of the Hebrew
persuasion. One young fellow among these latter, who I suppose
might be regarded as a representative of the broad synagogue,
delivered it as his opinion, that the time had come when the Jews
should give up all their peculiar practices which modern knowledge
had proved to be founded in misconceptions and mistakes. He
instanced their abstinence from pork, and from the blood of the
animals they used for food, and their method of killing animals. One
of these Teutonic Americans, a youth with such a width of shoulder,
and massiveness of neck and head, that no one could look upon him
without being reminded of a buffalo, was an Indian trader from the
borders of Kansas. His practice was to give the Indians four dollars’
worth of goods for such a buffalo robe as sells in London for fifty or
sixty shillings. It was his opinion that Indians were vermin which
should on every opportunity have a dose of lead administered to
them. When asked if this was justifiable, ‘Well,’ he replied, ‘they are
a set of bloodthirsty, treacherous skunks; and they must all die out,
or be shot down, and it can’t matter much to them which it is. It
comes to much the same in the end. They shot my brother, and my
plan is to take a shot at them whenever I have a chance.’ All these
German Americans spoke English as fluently as they did German.
Their most prominent idea appeared to be hatred of all aristocracies.
That of the United Kingdom of Great Britain and Ireland they
regarded with their purest hatred, because it seemed to them the
most developed and the most powerful. The best mannered people
of the party were the Yankee and New York traders; some of these
were buyers for large wholesale and retail houses, others on their
own account. There were about a dozen of them on board. They
were very careful about their dress, and their conversation was
pleasing and intelligent. The majority of them were entirely free from
the Yankee tone of voice. They were the very reverse of pushing,
and they never guessed. In appearance and manners they would
have passed amongst ourselves for gentlemen. We had, however,
among the passengers one genuine Yankee of the received type. He
had been a successful inventor of improvements in machinery,
though medicine, not mechanics or engineering, was his business.
He thought that anything by which he could make money was as
much his business as his profession was. He was always talking,
and ready to argue on any subject: if unacquainted with it, that made
no difference—he still had a right to express his opinion. His
favourite idea was that discussion led to knowledge, and that books
came after knowledge, and that therefore they were not of much
value. This dictum he fearlessly applied to everything—to history, to
science, and to religion. Theoretically he was a strong Negrophilist.
He believed that the patriarchs and prophets, that the Saviour of the
world and His apostles were all Negroes. He thought that the amount
of wealth a man had been able to accumulate was the true measure
of a man, because all pursued wealth, and employed in the pursuit
the whole of their power. If a man was idle or stupid, he employed