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Table of Laplace Transforms
Number F(s) f (t), t ≥ 0
1 1 δ(t)
1
2 1(t)
s
1
3 t
s2
2!
4 t2
s3
3!
5 t3
s4
m!
6 tm
sm+1
1
7 e−at
(s + a)
1
8 te−at
(s + a)2
1 1 2 −at
9 t e
(s + a)3 2!
1 1
10 tm−1 e−at
(s + a)m (m − 1)!
a
11 1 − e−at
s(s + a)
a 1
12 2
(at − 1 + e−at )
s (s + a) a
b−a
13 e−at − e−bt
(s + a)(s + b)
s
14 (1 − at)e−at
(s + a)2
a2
15 1 − e−at (1 + at)
s(s + a)2
(b − a)s
16 be−bt − ae−at
(s + a)(s + b)
a
17 sin at
(s2 + a2 )
s
18 cos at
(s + a2 )
2
s+a
19 e−at cos bt
(s + a)2 + b2
b
20 e−at sin bt
(s + a)2 + b2
a2 + b2 a
21 1 − e−at cos bt + sin bt
s (s + a)2 + b2 b
Chronological History of Feedback Control
Driverless cars
Drones
GPS
Unmanned aircraft
High precision disk drive control
Maximum principle
Dynamic programming
Numerical optimization
Optimal filtering
Sampled data systems
Root locus
Nyquist stability
Frequency-response tools
Feedback amplifier
Autopilot
Fly-ball governor
Incubator
1600s 1700s 1800s 1910 1920 1930 1940 1950 1960 1970 1980 1990 2000 2010 2020
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Feedback Control
of Dynamic Systems
Eighth Edition
Global Edition
Gene F. Franklin
Stanford University
J. David Powell
Stanford University
Abbas Emami-Naeini
SC Solutions, Inc.
Credits and acknowledgments borrowed from other sources and reproduced, with permission, in this textbook
appear on appropriate page within text.
Matlab and Simulink are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA.
c Pearson Education Limited, 2020
The rights of Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini to be identified as the authors of this work have
been asserted by them in accordance with the Copyright, Designs and Patents Act 1988.
Authorized adaptation from the United States edition, entitled Feedback Control of Dynamic Systems, 8th Edition, ISBN
978-0-13-468571-7 by Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, published by Pearson Education
c 2019.
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, without either the prior written permission
of the publisher or a license permitting restricted copying in the United Kingdom issued by the Copyright Licensing Agency
Ltd, Saffron House, 6-10 Kirby Street, London EC1N 8TS.
All trademarks used herein are the property of their respective owners. The use of any trademark in this text does not
vest in the author or publisher any trademark ownership rights in such trademarks, nor does the use of such trademarks
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Typeset by Integra
To Valerie, Daisy, Annika, Davenport, Malahat, Sheila, Nima, and to
the memory of Gene
This page intentionally left blank
Contents
Preface 15
2 Dynamic Models 46
A Perspective on Dynamic Models 46
Chapter Overview 47
2.1 Dynamics of Mechanical Systems 47
2.1.1 Translational Motion 47
2.1.2 Rotational Motion 54
2.1.3 Combined Rotation and Translation 65
2.1.4 Complex Mechanical Systems (W)** 68
2.1.5 Distributed Parameter Systems 68
2.1.6 Summary: Developing Equations of Motion
for Rigid Bodies 70
2.2 Models of Electric Circuits 71
2.3 Models of Electromechanical Systems 76
2.3.1 Loudspeakers 76
2.3.2 Motors 78
2.3.3 Gears 82
2.4 Heat and Fluid-Flow Models 83
2.4.1 Heat Flow 84
2.4.2 Incompressible Fluid Flow 88
2.5 Historical Perspective 95
Summary 98
Review Questions 98
Problems 99
**Sections with (W) indicates that additional material is located on the web at
www.pearsonglobaleditions.com.
7
8 Contents
6 The Frequency-Response
Design Method 353
A Perspective on the Frequency-Response Design Method 353
Chapter Overview 354
6.1 Frequency Response 354
6.1.1 Bode Plot Techniques 362
6.1.2 Steady-State Errors 374
6.2 Neutral Stability 376
6.3 The Nyquist Stability Criterion 379
6.3.1 The Argument Principle 379
6.3.2 Application of The Argument Principle
to Control Design 380
6.4 Stability Margins 393
6.5 Bode’s Gain–Phase Relationship 402
6.6 Closed-Loop Frequency Response 407
6.7 Compensation 408
6.7.1 PD Compensation 409
6.7.2 Lead Compensation (W) 410
6.7.3 PI Compensation 420
6.7.4 Lag Compensation 420
6.7.5 PID Compensation 426
6.7.6 Design Considerations 433
6.7.7 Specifications in Terms of the Sensitivity
Function 435
6.7.8 Limitations on Design in Terms of the Sensitivity
Function 440
6.8 Time Delay 443
6.8.1 Time Delay via the Nyquist Diagram (W) 445
6.9 Alternative Presentation of Data 445
6.9.1 Nichols Chart 445
6.9.2 The Inverse Nyquist Diagram (W) 450
6.10 Historical Perspective 450
Summary 451
Review Questions 453
Problems 454
Count. Well, if she can’t come out, she can answer at least.
(Calls) Susan!—Answer me, Susan.
Countess. I say, do not answer, Susan! I forbid you to speak a
word!—We shall see who she’ll obey.
Count. But if you are so innocent, Madam, what is the reason of
that emotion and perplexity so very evident in your countenance?
Countess. (Affecting to laugh) Emotion and perplexity! Ha! ha!
ha! Ridiculous!
Count. Well, Madam, be it as ridiculous as it may, I am
determined to be satisfied, and I think present appearances give
me a sufficient plea. (Goes to the side of the Scenes and calls)
Hollo! Who waits there?
Countess. Do, do, my Lord! Expose your jealousy to your very
servants! Make yourself and me the jest of the whole world.
Count. Why do you oblige me to it?—However, Madam, since you
will not suffer that door to be opened, will you please to
accompany me while I procure an instrument to force it?
Countess. To be sure, my Lord! To be sure! If you please.
Count. And, in order that you may be fully justified, I will make
this other door fast (Goes to Susan’s chamber door, locks it, and
takes the key.) As to the Susan of the dressing-room, she must
have the complaisance to wait my return.
Countess. This behaviour is greatly to your honor, my Lord! (This
speech is heard as they are going through the door, which the
Count locks after him.)
(Exeunt)
Page. Oh Susan!
Susan. Oh my poor Mistress!
Page. What will become of her?
Susan. What will become of my marriage?
Page. What will become of me?
Susan. Don’t stand babbling here, but fly.
Page. The doors are all fast, how can I fly?
Susan. Don’t ask me! Fly!
Page. Here’s a window open (runs to the window) Underneath is
a bed of flowers; I’ll leap out.
Susan. (Screams) You’ll break your neck!
Page. Better that than ruin my dear Lady—Give me one kiss
Susan.
Susan. Was there ever seen such a young—(Page kisses her, runs
and leaps out of the window, and Susan shrieks at seeing him) Ah!
(Susan sinks into a chair, overcome with fear—At last she takes
courage, rises, goes with dread towards the window, and after
looking out, turns round with her hand upon her heart, a sigh of
relief and a smile expressive of sudden ease and pleasure.) He is
safe! Yonder he runs!—As light and as swift as the winds!—If that
Boy does not make some woman’s heart ache I’m mistaken. (Susan
goes towards the dressing-room door, enters, and peeps out as she
is going to shut it.) And now, my good jealous Count, perhaps, I
may teach you to break open doors another time. (Locks herself
in.)
(Exit.)
Basil. ’Tis in vain to resist. Shall I wage war with a Lion, who am
only——
Figaro. A Calf—“But come, you seem vex’d about it—I will open the Ball—
Strike up, tis my Susan’s Wedding-day.”
End of A C T II.
ACT III.
Count. Ride to Seville with all speed; enquire if the Page has
joined his Regiment, and at what o’clock precisely he
arrived; give him this Commission, and return like
lightening.
Servant. And if he is not there—
Count. Return still quicker.—Go; fly!——(Exit Servant)—I was
wrong to send Basil out of the way—He might have been very
serviceable—But Anger was never wise—I scarcely know at present
what I wish—When once the Passions have obtained the Mastery,
there is no Mind, however consistent, but becomes as wild and
incongruous as a Dream—If the Countess, Susan, and Figaro
should understand each other and plot to betray me!—If the Page
was shut up in her dressing-room—Oh! no!—The Respect she bears
herself—my Honor!—My Honor? And in my Wife’s keeping?—Honor
in a Woman’s possession, like Ice Cream in the mouth, melts away
in a contest of Pleasure and Pain—I will sound Figaro, however.
Count. The time was, Figaro, when thou wert more open—
Formerly thou wouldst tell me any thing.
Figaro. And at present I conceal nothing.
Count. What can be the Countess’s motives—(The Count puts his
arm round Figaro’s neck—By-play again)—I—Thou seest I anticipate
her wishes, load her with presents——
Figaro. Will give her any thing but yourself—Of what worth are
Trinkets when we are in want of Necessaries?
Count. Come, come; be sincere—Tell me—How much did the
Countess give thee for this last plot?
Figaro. As much as your Lordship gave me for helping you to
steal her from her old jealous Guardian—“A noble Lord should not
endeavour to degrade an honest Servant, lest he should make him a Knave.”
Count. But wherefore is there continually some Mystery in thy
conduct?
Figaro. Because the Conduct of others is mysterious.
Count. Appearances, my dear Figaro, really speak thee a great
Knave.
Figaro. (Looking round at the Count’s hand upon his shoulders,
and observing his familiarity)—Appearances, my dear Lord, are
frequently false—I am much better than I appear to be-Can the
Great in general say as much?—(Aside)—Take that.
Count. Yes, yes; she has told him. (Aside.)
Figaro. “I shall content myself, my Lord, with the portion your Lordship has
promised me on my Marriage, and the place of Steward of this Castle, with
which you have honoured me, and willingly remain with my Wife here in
Andalusia, far from troubles and intrigue.
Count. “But thou hast Abilities, and might rise to Preferment.
Figaro. “Preferred by my Abilities my Lord!——Your Lordship is pleased to
laugh at me.”
Enter a SERVANT.
Enter SUSAN.
Susan. My Lord!
Count. My Lady!
Susan. My Lady has sent me for your Lordship’s smelling-bottle;
she has got the vapours.
Count. Here; and when she has done with it, borrow it for
yourself,—it may be useful.
Susan. I the vapours, my Lord! Oh no, that’s too polite a disease
for a Servant to pretend to!
Count. Fits may come;—Love so violent as yours cannot bear
disappointment; and when Figaro marries Marcelina—
Susan. Oh, suppose the worst, my Lord, we can pay Marcelina
with the Portion your Lordship has promised us!
Count. I promis’d you a portion?
Susan. If my ears did not deceive me, I understood as much.
Count. Yes, if you had pleas’d to understand me, but since you
do not.—
Susan. (Pretending bashfulness) It’s always soon enough to own
one’s weakness, my Lord.
Count. (with an instant change of countenance) What! Wilt thou
take a walk this evening in the garden, by the Pavilion?
Susan. Don’t I take Walks every evening, my Lord?
Count. Nay, nay, but let us understand each other—No Pavilion,
no Marriage.
Susan. And no Marriage, no Pavilion, my Lord! (curtsying)
Count. What a witty little Devil! I wonder what she does to
fascinate me so!—But prithee tell me why hast thou always, till
now, refused with such obstinacy? This very Morning, thou knowest
——
Susan. This Morning, my Lord!—What, and the Page behind the
Great-chair!
Count. Oh, true! I had forgot!—But when Basil has spoken to
thee in my behalf.—
Susan. Is it necessary, my Lord, such a knave as Basil should
know every thing that passes?
Count. She is right again!—But—(Suspicious) thou wilt go, now,
and tell Figaro all.
Susan. To be sure, my Lord. I always tell him all—except what is
necessary to conceal.
Count. Ah the Hussey! What a charming little Knave it is! Run,
run to thy Mistress; she is waiting, and may suspect us.
Susan. (Hesitating) So your Lordship can’t perceive that I only
wanted a pretext to speak to your Lordship.
(The Count unable to conceal his transport, is going
to kiss her, but hears somebody coming, and they
separate)
(The Count goes off, and Figaro enters, but the Count
hearing Figaro’s Voice, returns and peeps)
Re-enter COUNT.
Enter FIGARO.
“We have neither forgot our Reading nor our Syntax, but can easily translate
My Lord, and Gentlemen, You hear
a dull Knave into a palpable Fool—”
his Sophisms, Poetical, and Conundrums, Grammatical.
Count. Yes, yes, we hear.
(Count and the Counsellors rise and consult together.)
Antonio. I’m glad they have put an end to your prating.
Marcelina. Their Whisperings and wise Grimaces forebode me no
good. That Susan has corrupted the chief Judge, and he is
corrupting all the others.
Doctor. It looks devilish like it.
(The Count and Counsellors resume their seats.)
Doublefee. Silence in the Court.
Crier. Silence in the Court.
Count. The judgment of the Court is, that since the validity of the
promise of Marriage is not well established, Figaro is permitted to
dispose of his Person.
Figaro. The Day’s my own.
Marcelina. I thought how it would be.
Count. But as the Acknowledgement clearly expresses the words,
Which sum I promise to pay the said Marcelina-Jane-Maria-
Angelica-Mustachio, or to marry her, the said Figaro stands
condemned to pay the two thousand Piasters to the Plaintiff, or
marry her in the course of the Day.
Figaro. I’m undone!
Marcelina. I am happy!
Count. And I am revenged!
Antonio. Thank your noble Lordship! Most humbly thank your
noble Lordship!—Ah ha! I’m glad thou art not to marry my Niece!
I’ll go and tell her the good news!
(Exit.)
Crier. Clear the Court.
(Exeunt Guards, Counsellors, and Vassals.
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