Karl J. Åström and Richard M. Murray
Second Edition
Welcome to FBSwiki. This is the wiki for the text Feedback Systems (second edition) by Karl J. Åström and Richard M. Murray. On this site you will find the complete text of the book fbs-public as well as additional examples, exercises, and frequently asked questions. You can also explore the website for first edition.
Copyright in this book is held by Princeton University Press, who have kindly agreed to allow us to keep the book available on the web.
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Contents
This is the table of contents for Feedback Systems (second edition). Each chapter has its own page with more information specific to that chapter. The PDF link downloads copy of just that chapter (you can also download the complete book fbs-public.
- Chapter 1 - Introduction (PDF, 24 Jul 2020)
- What Is Feedback?
- What is Feedforward?
- What Is Control?
- Use of Feedback and Control
- Feedback Properties
- Simple Forms of Feedback
- Combining Feedback with Logic
- Control System Architectures
- Chapter 2 - Feedback Principles (PDF, 24 Jul 2020)
- Nonlinear Static Models
- Linear Dynamical Models
- Using Feedback to Improve Disturbance Attenuation
- Using Feedback to Track Reference Signals
- Using Feedback to Provide Robustness
- Positive Feedback
- Feedback and Feedforward
- Chapter 4 - Examples (PDF, 24 Jul 2020)
- Cruise Control
- Bicycle Dynamics
- Operational Amplifier Circuits
- Computing Systems and Networks
- Atomic Force Microscopy
- Drug Administration
- Population Dynamics
- Chapter 5 - Dynamic Behavior (PDF, 24 Jul 2020)
- Solving Differential Equations
- Qualitative Analysis
- Stability
- Lyapunov Stability Analysis
- Parametric and Nonlocal Behavior
- Chapter 8 - Output Feedback (PDF, 24 Jul 2020)
- Observability
- State Estimation
- Control Using Estimated State
- Kalman Filtering
- A General Controller Structure
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- Chapter 9 - Transfer Functions (PDF, 24 Jul 2020)
- Frequency Domain Modeling
- Derivation of the Transfer Function
- Block Diagrams and Transfer Functions
- The Bode Plot
- Laplace Transforms
- Chapter 10 - Frequency Domain Analysis (PDF, 24 Jul 2020)
- The Loop Transfer Function
- The Nyquist Criterion
- Stability Margins
- Bode’s Relations and Minimum Phase Systems
- Generalized Notions of Gain and Phase
- Chapter 11 - PID Control (PDF, 24 Jul 2020)
- Basic Control Functions
- Simple Controllers for Complex Systems
- PID Tuning
- Integrator Windup
- Implementation
- Chapter 12 - Frequency Domain Design (PDF, 24 Jul 2020)
- Sensitivity Functions
- Feedforward Design
- Performance Specifications
- Feedforward Design
- Feedback Design via Loop Shaping
- The Root-Locus Method
- Design Example
- Chapter 13 - Robust Performance (PDF, 24 Jul 2020)
- Modeling Uncertainty
- Stability in the Presence of Uncertainty
- Performance in the Presence of Uncertainty
- Design for Robust Performance
- Chapter 14 - Fundamental Limits (PDF, 24 Jul 2020)
- Effects of Design Decisions
- Nonlinear Effects
- Bode’s Integral Formula
- Gain Crossover Frequency Inequality
- The Maximum Modulus Principle
- Robust Pole Placement
- Chapter 15 - Architecture and System Design (PDF, 24 Jul 2020)
- Introduction
- Systems and Control Design
- Top-Down Architectures
- Bottom-Up Architectures
- Interaction
- Adaptation, Learning and Cognition
- Control Design in Common Application Fields
Other versions
- Complete book - single PDF file (35 MB, 24 Jul 2020)
- iPad version (not yet available) - reduced margins
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