Difference between revisions of "Feedback Systems: An Introduction for Scientists and Engineers"

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<font size='+1'>[[Karl J. Åström]] and [[User:Murray|Richard M. Murray]]</font><br>
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<font color='blue' size='+2'>Feedback Systems: An Introduction for Scientists and Engineers</font></td></tr>
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<font size='+1'>Second Edition</font>
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<tr><td align=center height="40"><font size='+1'>Second Edition</font></td></tr>
 
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<tr><td align=center height="40"><font size='+1'>[[Karl J. Åström]] and [[User:Murray|Richard M. Murray]]</font></td></tr>
 
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Welcome to {{SITENAME}}.  This is the wiki for the text ''Feedback Systems'' (second edition) by Karl J. {{Astrom}} and Richard M. Murray.  On this site you will find the complete text of the book {{FBS pdf|fbs-public}} as well as additional [[Additional examples|examples]], [[Additional exercises|exercises]], and [[Frequently Asked Questions|frequently asked questions]].  You can also explore the website for [[https:www.cds.caltech.edu/~murray/FBSwiki/First_Edition|first edition]].
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Welcome to {{SITENAME}}.  This is the wiki for the text ''Feedback Systems'' (second edition) by Karl J. {{Astrom}} and Richard M. Murray.  On this site you will find the {{current version|complete text}} of the book as well as additional [[Additional Examples|examples]], [[Additional Exercises|exercises]], and [[Frequently Asked Questions|frequently asked questions]].
 
  
 
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.
 
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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==== News ====
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{{#ask: [[Category:Announcements]] [[Book::FBS]]
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=== Contents ===
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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 pdf|fbs-public}}.
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* [[Preface]] ({{FBS pdf|PDF|fbs-frontmatter}}, {{FBS date}})
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* [[Introduction|Chapter 1 - Introduction]] ({{FBS pdf|PDF|fbs-intro}}, {{FBS date}})
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** What Is Feedback?
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** What is Feedforward?
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** What Is Control?
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** Use of Feedback and Control
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** Feedback Properties
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** Simple Forms of Feedback
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** Combining Feedback with Logic
 +
** Control System Architectures
 +
 +
* [[Feedback Principles|Chapter 2 - Feedback Principles]] ({{FBS pdf|PDF|fbs-principles}}, {{FBS date}})
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** Nonlinear Static Models
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** Linear Dynamical Models
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** Using Feedback to Improve Disturbance Attenuation
 +
** Using Feedback to Track Reference Signals
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** Using Feedback to Provide Robustness
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** Positive Feedback
 +
** Feedback and Feedforward
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* [[System Modeling|Chapter 3 - System Modeling]] ({{FBS pdf|PDF|fbs-modeling}}, {{FBS date}})
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** Modeling Concepts
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** State Space Models
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** Modeling Methodology
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** Modeling Examples
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* [[Examples|Chapter 4 - Examples]] ({{FBS pdf|PDF|fbs-examples}}, {{FBS date}})
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** Cruise Control
 +
** Bicycle Dynamics
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** Operational Amplifier Circuits
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** Computing Systems and Networks
 +
** Atomic Force Microscopy
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** Drug Administration
 +
** Population Dynamics
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* [[Dynamic Behavior|Chapter 5 - Dynamic Behavior]] ({{FBS pdf|PDF|fbs-dynamics}}, {{FBS date}})
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** Solving Differential Equations
 +
** Qualitative Analysis
 +
** Stability
 +
** Lyapunov Stability Analysis
 +
** Parametric and Nonlocal Behavior
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* [[Linear Systems|Chapter 6 - Linear Systems]] ({{FBS pdf|PDF|fbs-linsys}}, {{FBS date}})
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** Basic Definitions
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** The Matrix Exponential
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** Input/Output Response
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** Linearization
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* [[State Feedback|Chapter 7 - State Feedback]] ({{FBS pdf|PDF|fbs-statefbk}}, {{FBS date}})
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** Reachability
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** Stabilization by State Feedback
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** State Feedback Design
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** Integral Action
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* [[Output Feedback|Chapter 8 - Output Feedback]] ({{FBS pdf|PDF|fbs-outputfbk}}, {{FBS date}})
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** Observability
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** State Estimation
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** Control Using Estimated State
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** Kalman Filtering
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** A General Controller Structure
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| width=50% |
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* [[Transfer Functions|Chapter 9 - Transfer Functions]] ({{FBS pdf|PDF|fbs-xferfcns}}, {{FBS date}})
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** Frequency Domain Modeling
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** Derivation of the Transfer Function
 +
** Block Diagrams and Transfer Functions
 +
** The Bode Plot
 +
** Laplace Transforms
 +
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* [[Frequency Domain Analysis|Chapter 10 - Frequency Domain Analysis]] ({{FBS pdf|PDF|fbs-loopanal}}, {{FBS date}})
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** The Loop Transfer Function
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** The Nyquist Criterion
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** Stability Margins
 +
** Bode’s Relations and Minimum Phase Systems
 +
** Generalized Notions of Gain and Phase
 +
 +
* [[PID Control|Chapter 11 - PID Control]] ({{FBS pdf|PDF|fbs-pid}}, {{FBS date}})
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** Basic Control Functions
 +
** Simple Controllers for Complex Systems
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** PID Tuning
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** Integrator Windup
 +
** Implementation
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* [[Frequency Domain Design|Chapter 12 - Frequency Domain Design]] ({{FBS pdf|PDF|fbs-loopsyn}}, {{FBS date}})
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** Sensitivity Functions
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** Feedforward Design
 +
** Performance Specifications
 +
** Feedforward Design
 +
** Feedback Design via Loop Shaping
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** The Root-Locus Method
 +
** Design Example
 +
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* [[Robust Performance|Chapter 13 - Robust Performance]] ({{FBS pdf|PDF|fbs-robperf}}, {{FBS date}})
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** Modeling Uncertainty
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** Stability in the Presence of Uncertainty
 +
** Performance in the Presence of Uncertainty
 +
** Design for Robust Performance
 +
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* [[Fundamental Limits|Chapter 14 - Fundamental Limits]] ({{FBS pdf|PDF|fbs-limits}}, {{FBS date}})
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** Effects of Design Decisions
 +
** Nonlinear Effects
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** Bode’s Integral Formula
 +
** Gain Crossover Frequency Inequality
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** The Maximum Modulus Principle
 +
** Robust Pole Placement
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* [[Architecture and System Design|Chapter 15 - Architecture and System Design]] ({{FBS pdf|PDF|fbs-architecture}}, {{FBS date}})
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** Introduction
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** Systems and Control Design
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** Top-Down Architectures
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** Bottom-Up Architectures
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** Interaction
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** Adaptation, Learning and Cognition
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** Control Design in Common Application Fields
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* [[Bibliography]] {{FBS pdf|fbs-backmatter}}
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<br>
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<hr>
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Other versions
 +
* {{FBS pdf|Complete book|fbs-public}} - single PDF file (35 MB, {{FBS date}})
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* iPad version (not yet available) - reduced margins
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|}

Revision as of 16:16, 3 January 2021

Obtaining FBS2e

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.

News

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
  • 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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