Gene F. Franklin、J. David Powell、Abbas Emami-Naeini編著的《自動控制原理與設計》整合了自動化專業過去分散的專業課程，將經典自動控制原理、現代控制理論和非線性繫統理論中的基礎知識全部囊括其中，知識體繫清晰、內容豐富飽滿、適應當今社會對寬口徑自動化專業技術人纔的培養需求。每個章節的開篇都提綱挈領地給出了本章的知識背景和控制要求、以及全章的主要內容結構分布。在每個章節的末尾，還對本章的關鍵知識點進行小結，這有助於讀者進一步理解所學知識，形成完整的知識體繫。本書在介紹自動控制分析和設計方法的同時，還以豐富的設計實例配以詳細的設計步驟，讓讀者能充分體會到控制繫統的每一個設計細節，有利於快速地培養起讀者的分析和設計控制繫統的能力。

Gene F. Franklin、J. David Powell、Abbas Emami-Naeini編著的《 自動控制原理與設計》是自動控制領域的經典著作，以自動控制繫統的分析 和設計為主線，在回顧自動控制繫統動態響應和反饋控制的基本特性基礎上 ，重點介紹了自動控制繫統的三種主流設計方法，即根軌跡設計法、頻率響 應設計法和狀態空間設計法。此外，還闡述了非線性繫統的分析與設計，給 出了一繫列經典控制繫統設計實例。全書在闡述自動控制原理和設計方法的 過程中，適時地穿插有MATLAB仿真源代碼和仿真實驗結果。 《自動控制原理與設計》可作為高等院校自動化、電氣工程、機電自動 化及相關專業的高年級本科生和研究生的教材，還可供從事半導體制造、汽 車控制、宇航自動化、運動控制、機器人、化工自動化等相關領域的教師、 科研人員、工程技術人員作為參考用書。

1 An Overview and Brief History of Feedback Control
A Perspective on Feedback Control
Chapter Overview
1.1 A Simple Feedback System
1.2 A First Analysis of Feedback
1.3 A Brief History
1.4 An Overview of the Book
Problems
2 Dynamic Response
A Perspective on System Response
Chapter Overview
2.1 Review of Laplace Transforms
2.1.1 Response by Convolution
2.1.2 Transfer Functions and Frequency Response
2.1.3 The L Laplace Transform
2.1.4 Properties of Laplace Transforms
2.1.5 Inverse LaplaceTransform by Partial-Fraction Expansion
2.1.6 The Final Value Theorem
2.1.7 Using Laplace Transforms to Solve Problems
2.1.8 Poles and Zeros
2.1.9 Linear System Analysis Using MATLAB
2.2 System Modeling Diagrams
2.2.1 The Block Diagram
2.2.2 Block Diagram Reduction Using MATLAB
2.3 Effect of Pole Locations
2.4 Time-Domain Specifications
2.4.1 Rise Time
2.4.2 Overshoot and Peak Time
2.4.3 Settling Time
2.5 Effects of Zeros and Additional Poles
2.6 Stability
2.6.1 Bounded Input–Bounded Output Stability
2.6.2 Stability of LTI Systems
2.6.3 Routh’s Stability Criterion
2.7 Historical Perspective
Problems
3 A First Analysis of Feedback
A Perspective on the Analysis of Feedback
Chapter Overview
3.1 The Basic Equations of Control
3.1.1 Stability
3.1.2 Tracking
3.1.3 Regulation
3.1.4 Sensitivity
3.2 Control of Steady-State Error to Polynomial Inputs: SystemType
3.2.1 System Type for Tracking
3.2.2 System Type for Regulation and Disturbance Rejection
3.3 The Three-Term Controller: PID Control
3.3.1 Proportional Control (P)
3.3.2 Proportional Plus Integral Control (PI)
3.3.3 PID Control
3.3.4 Ziegler–Nichols Tuning of the PID Controller
3.4 Introduction to Digital Control
3.5 Historical Perspective
Problems
4 The Root-Locus Design Method
A Perspective on the Root-Locus Design Method
Chapter Overview
4.1 Root Locus of a Basic Feedback System
4.2 Guidelines for Determining a Root Locus
4.2.1 Rules for Plotting a Positive (180°) Root Locus
4.2.2 Summary of the Rules for Determining a Root Locus
4.2.3 Selecting the Parameter Value
4.3 Selected Illustrative Root Loci
4.4 Design Using Dynamic Compensation
4.4.1 Design Using Lead Compensation
4.4.2 Design Using Lag Compensation
4.4.3 Design Using Notch Compensation
4.4.4 Analog and Digital Implementations
4.5 A Design Example Using the Root Locus
4.6 Extensions of the Root-Locus Method
4.6.1 Rules for Plotting a Negative (0°) Root Locus
4.7 Historical Perspective
Problems
5 The Frequency-Response Design Method
A Perspective on the Frequency-Response Design Method
Chapter Overview
5.1 Frequency Response
5.1.1 Bode Plot Techniques
5.1.2 Steady-State Errors
5.2 Neutral Stability
5.3 The Nyquist Stability Criterion
5.3.1 The Argument Principle
5.3.2 Application to Control Design
5.4 Stability Margins
5.5 Bode’s Gain–Phase Relationship
5.6 Closed-Loop Frequency Response
5.7 Compensation
5.7.1 PD Compensation
5.7.2 Lead Compensation
5.7.3 PI Compensation
5.7.4 Lag Compensation
5.7.5 PID Compensation
5.7.6 Design Considerations
5.8 Historical Perspective
Problems
6 State-Space Design
A Perspective on State-Space Design
Chapter Overview
6.1 Advantages of State-Space
6.2 System Description in State-Space
6.3 Block Diagrams and State-Space
6.3.1 Time and Amplitude Scaling in State-Space
6.4 Analysis of the State Equations
6.4.1 Block Diagrams and Canonical Forms
6.4.2 Dynamic Response from the State Equations
6.5 Control-Law Design for Full-State Feedback
6.5.1 Finding the Control Law
6.5.2 Introducing the Reference Input with Full-State Feedback
6.6 Selection of Pole Locations for Good Design
6.6.1 Dominant Second-Order Poles
6.6.2 Symmetric Root Locus (SRL)
6.6.3 Comments on the Methods
6.7 Estimator Design
6.7.1 Full-Order Estimators
6.7.2 Reduced-Order Estimators
6.7.3 Estimator Pole Selection
6.8 Compensator Design: Combined Control Law and Estimator
6.9 Introduction of the Reference Input with the Estimator
6.9.1 A General Structure for the Reference Input
6.9.2 Selecting the Gain
6.10 Integral Control and Robust Tracking
6.10.1 Integral Control
6.11 Historical Perspective
Problems
7 Nonlinear Systems
Perspective on Nonlinear Systems
Chapter Overview
7.1 Introduction and Motivation: Why Study Nonlinear Systems?
7.2 Analysis by Linearization
7.2.1 Linearization by Small-Signal Analysis
7.2.2 Linearization by Nonlinear Feedback
7.2.3 Linearization by Inverse Nonlinearity
7.3 Equivalent Gain Analysis Using the Root Locus
7.3.1 Integrator Antiwindup
7.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions
7.4.1 Stability Analysis Using Describing Functions
7.5 Historical Perspective
Problems
8 Control System Design: Principles and Case Studies
A Perspective on Design Principles
Chapter Overview
8.1 An Outline of Control Systems Design
8.2 Design of a Satellite’s Attitude Control
8.3 Lateral and Longitudinal Control of a Boeing 747
8.3.1 Yaw Damper
8.3.2 Altitude-Hold Autopilot
8.4 Control of the Fuel–Air Ratio in an Automotive Engine
8.5 Control of the Read/Write Head Assembly of a Hard Disk
8.6 Control ofRTP Systems in SemiconductorWafer Manufacturing
8.7 Chemotaxis or How E. Coli Swims Away from Trouble
8.8 Historical Perspective
Problems
Appendix Solutions to the Review Questions