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Table of Contents
1 Cover
2 Preface
4 List of Symbols and Acronyms
6 1 Basics of PID Control 1.1 Introduction 1.2 PID Controller Structure 1.3 Classical Tuning Rules for PID Controllers 1.4 Model Based PID Controller Tuning Rules 1.5 Examples for Evaluations of the Tuning Rules 1.6 Summary 1.7 Further Reading Problems Notes
7 2 Closed-loop Performance and Stability 2.1 Introduction 2.2 Routh–Hurwitz Stability Criterion 2.3 Nyquist Stability Criterion 2.4 Control System Structures and Sensitivity Functions 2.5 Reference Following and Disturbance Rejection 2.6 Disturbance Rejection and Noise Attenuation 2.7 Robust Stability and Robust Performance 2.8 Summary 2.9 Further Reading Problems
8 3 Model-Based PID and Resonant Controller Design 3.1 Introduction 3.2 PI Controller Design 3.3 Model Based Design for PID Controllers 3.4 Resonant Controller Design 3.5 Feedforward Control 3.6 Summary 3.7 Further Reading Problems Notes
9 4 Implementation of PID Controllers 4.1 Introduction 4.2 Scenario of a PID Controller at work 4.3 PID Controller Implementation using the Position Form 4.4 PID Controller Implementation using the Velocity Form 4.5 Anti-windup Implementation using the Position Form 4.6 Anti-windup Mechanisms in the Velocity Form 4.7 Tutorial on PID Anti-windup Implementation 4.8 Dealing with Other Implementation Issues 4.9 Summary 4.10 Further Reading Problems
10 5 Disturbance Observer- Based PID and Resonant Controller 5.1 Introduction 5.2 Disturbance observer-Based PI Controller 5.3 Disturbance observer-Based PID Controller 5.4 Disturbance observer-Based Resonant Controller 5.5 Multi-frequency Resonant Controller 5.6 Summary 5.7 Further Reading Problems
11 6 PID Control of Nonlinear Systems 6.1 Introduction 6.2 Linearization of the Nonlinear Model 6.3 Case Study: Ball and Plate Balancing System 6.4 Gain Scheduled PID Control Systems 6.5 Summary 6.6 Further Reading Problems
12 7 Cascade PID Control Systems 7.1 Introduction 7.2 Design of a Cascade PID Control System 7.3 Cascade Control System for Input Disturbance Rejection 7.4 Cascade Control System for Actuator Nonlinearities 7.5 Summary 7.6 Further Reading Problems
13 8 PID Controller Design for Complex Systems 8.1 Introduction 8.2 PI Controller Design via Gain and Phase Margins