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This page contains information regarding the Second Edition of ''Feedback Systems'', which is scheduled for release in 2015.
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<font color='blue' size='+2'>Feedback Systems: An Introduction for Scientists and Engineers</font></td></tr>
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<tr><td align=center height="40"><font size='+1'>[[Karl J. Åström]] and [[Richard M. Murray]]</font></td></tr>
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</table> __NOTOC__
  
'''Note:''' These notes are in draft form and may contain errorsPermission is granted to download and print a copy for individual use, but this material may not be reproduced, in whole or in part, without written consent from the author.
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Welcome to {{SITENAME}}.  This is the wiki for the Second Edition of text ''Feedback Systems'' by Karl J. {{Astrom}} and Richard M. Murray.
 +
 
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This book provides an introduction to the basic principles and tools for the design and analysis of feedback systems.  It is intended to serve a diverse audience of scientists and engineers who are interested in understanding and utilizing feedback in physical, biological, information and social systems. A major goal of this book is to present a concise and insightful view of the current knowledge in feedback and control systems.  In developing this book, we have attempted to condense the current knowledge by emphasizing fundamental conceptsWe believe that it is important to understand why feedback is useful, to know the language and basic mathematics of control and to grasp the key paradigms that have been developed over the past half century.  It is also important to be able to solve simple feedback problems using back-of-the-envelope techniques, to recognize fundamental limitations and difficult control problems and to have a feel for available design methods.
 +
 
 +
This page corresponds to the Second Edition of FBS.  The [[First Edition|first edition]] is also available. 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 ([[Second Edition:Archived news|archive]]) =====
 
===== News ([[Second Edition:Archived news|archive]]) =====
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<!--
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* 1 Nov 2015: updated version of chapters 9-13 have now been posted
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* 30 Aug 2015: updates to chapters 1-8; chapter 9-14 should be posted in the next few weeks
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* 29 Aug 2015: reorganized Feedback Prcinciples (Ch 3 → Ch 2) and Examples (App A → Ch 4)
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* 4 Jun 2015: updates to chapters 1-5 and 10
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* 9 Nov 2014: updated loop synthesis chapter
 
* 22 Jun 2014: initial posting of second edition materials
 
* 22 Jun 2014: initial posting of second edition materials
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* {{FBS pdf|Preface and Contents|fbs-frontmatter|22Jun14}}
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* {{FBS pdf|Preface and Contents|fbs-frontmatter|24Jul2020}}
  
* Chapter 1 - {{FBS pdf|Introduction|fbs-intro|22Jun14}}
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* Chapter 1 - {{FBS pdf|Introduction|fbs-intro|24Jul2020}}
 
** What Is Feedback?
 
** What Is Feedback?
 +
** What is Feedforward?
 
** What Is Control?
 
** What Is Control?
 +
** Use of Feedback and Control
 
** Feedback Properties
 
** Feedback Properties
 
** Simple Forms of Feedback
 
** Simple Forms of Feedback
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** Control System Architectures
 
** Control System Architectures
  
* Chapter 2 - {{FBS pdf|System Modeling|fbs-modeling|22Jun14}}
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* Chapter 2 - {{FBS pdf|Feedback Principles|fbs-principles|24Jul2020}}
 +
** 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 3 - {{FBS pdf|System Modeling|fbs-modeling|24Jul2020}}
 
** Modeling Concepts
 
** Modeling Concepts
 
** State Space Models
 
** State Space Models
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** Modeling Examples
 
** Modeling Examples
  
* Chapter 3 - {{FBS pdf|Feedback Principles|fbs-principles|22Jun14}}
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* Chapter 4 - {{FBS pdf|Examples|fbs-examples|24Jul2020}}
** Mathematical Models
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** Cruise Control
** Using Feedback to Improve Disturbance Attenuation
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** Bicycle Dynamics
** Using Feedback to Follow Command Signals
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** Operational Amplifier Circuits
** Using Feedback to Provide Robustness
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** Computing Systems and Networks
** Using Feedback to Shape Behavior
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** Atomic Force Microscopy
** Feedback and Feedforward
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** Drug Administration
 +
** Population Dynamics
  
* Chapter 4 - {{FBS pdf|Dynamic Behavior|fbs-dynamics|22Jun14}}
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* Chapter 5 - {{FBS pdf|Dynamic Behavior|fbs-dynamics|24Jul2020}}
 +
** Solving Differential Equations
 +
** Qualitative Analysis
 +
** Stability
 +
** Lyapunov Stability Analysis
 +
** Parametric and Nonlocal Behavior
  
* Chapter 5 - {{FBS pdf|Linear Systems|fbs-linsys|22Jun14}}
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* Chapter 6 - {{FBS pdf|Linear Systems|fbs-linsys|24Jul2020}}
 
** Basic Definitions  
 
** Basic Definitions  
 
** The Matrix Exponential  
 
** The Matrix Exponential  
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** Linearization  
 
** Linearization  
  
* Chapter 6 - {{FBS pdf|State Feedback|fbs-statefbk|22Jun14}}
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* Chapter 7 - {{FBS pdf|State Feedback|fbs-statefbk|24Jul2020}}
 
** Reachability  
 
** Reachability  
 
** Stabilization by State Feedback  
 
** Stabilization by State Feedback  
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** Integral Action  
 
** Integral Action  
  
* Chapter 7 - {{FBS pdf|Output Feedback|fbs-outputfbk|22Jun14}}
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* Chapter 8 - {{FBS pdf|Output Feedback|fbs-outputfbk|24Jul2020}}
 
** Observability  
 
** Observability  
 
** State Estimation  
 
** State Estimation  
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| width=50% |
 
| width=50% |
* Chapter 8 - {{FBS pdf|Transfer Functions|fbs-xferfcns|22Jun14}}
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* Chapter 9 - {{FBS pdf|Transfer Functions|fbs-xferfcns|24Jul2020}}
 
** Frequency Domain Modeling  
 
** Frequency Domain Modeling  
 
** Derivation of the Transfer Function  
 
** Derivation of the Transfer Function  
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** Laplace Transforms  
 
** Laplace Transforms  
  
* Chapter 9 - {{FBS pdf|Frequency Domain Analysis|fbs-loopanal|22Jun14}}
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* Chapter 10 - {{FBS pdf|Frequency Domain Analysis|fbs-loopanal|24Jul2020}}
 
** The Loop Transfer Function  
 
** The Loop Transfer Function  
 
** The Nyquist Criterion  
 
** The Nyquist Criterion  
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** Generalized Notions of Gain and Phase  
 
** Generalized Notions of Gain and Phase  
  
* Chapter 10 - {{FBS pdf|PID Control|fbs-pid|22Jun14}}
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* Chapter 11 - {{FBS pdf|PID Control|fbs-pid|17Aug2019}}
** Basic Control Functions  
+
** Basic Control Functions  
** Simple Controllers for Complex Systems  
+
** Simple Controllers for Complex Systems  
** PID Tuning  
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** PID Tuning  
** Integrator Windup  
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** Integrator Windup  
** Implementation  
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** Implementation  
  
* Chapter 11 - {{FBS pdf|Frequency Domain Design|fbs-loopsyn|22Jun14}}
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* Chapter 12 - {{FBS pdf|Frequency Domain Design|fbs-loopsyn|24Jul2020}}
** Sensitivity Functions  
+
** Sensitivity Functions  
** Feedforward Design  
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** Feedforward Design  
** Performance Specifications  
+
** Performance Specifications  
** Feedback Design via Loop Shaping  
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** Feedforward Design
** The Root-Locus Method  
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** Feedback Design via Loop Shaping  
** Fundamental Limitations
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** The Root-Locus Method  
**  Design Example  
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** Design Example  
  
* Chapter 12 - {{FBS pdf|Robust Performance|fbs-robperf|22Jun14}}
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* Chapter 13 - {{FBS pdf|Robust Performance|fbs-robperf|24Jul2020}}
** Modeling Uncertainty  
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** Modeling Uncertainty  
** Stability in the Presence of Uncertainty  
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** Stability in the Presence of Uncertainty  
** Performance in the Presence of Uncertainty  
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** Performance in the Presence of Uncertainty  
** Robust Pole Placement
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** Design for Robust Performance  
**  Design for Robust Performance  
+
  
* Appendix A - {{FBS pdf|Examples|fbs-examples|22Jun14}}
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* Chapter 14 - {{FBS pdf|Fundamental Limits|fbs-limits|24Jul2020}}  
** Cruise Control
+
** Effects of Design Decisions
** Bicycle Dynamics
+
** Nonlinear Effects
** Operational Amplifier Circuits
+
** Bode’s Integral Formula
** Computing Systems and Networks
+
** Gain Crossover Frequency Inequality
** Atomic Force Microscopy
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** The Maximum Modulus Principle
** Drug Administration
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** Robust Pole Placement
** Population Dynamics
+
 
 +
* Chapter 15 - {{FBS pdf|Architecture and System Design|fbs-architecture|24Jul2020}}
 +
** Introduction
 +
** Systems and Control Design
 +
** Top-Down Architectures
 +
** Bottom-Up Architectures
 +
** Interaction
 +
** Adaptation, Learning and Cognition
 +
** Control Design in Common Application Fields
 +
 
 +
* {{FBS pdf|Bibliography and Index|fbs-backmatter|24Jul2020}}
 +
 
 +
<br>
 +
<hr>
 +
Other versions
 +
* {{FBS pdf|Complete book|fbs-public|24Jul2020}} - single PDF file (35 MB)
 +
* iPad version (not yet available) - reduced margins
 
|}
 
|}

Latest revision as of 05:57, 25 July 2020

Feedback Systems: An Introduction for Scientists and Engineers
Karl J. Åström and Richard M. Murray

Welcome to FBSwiki. This is the wiki for the Second Edition of text Feedback Systems by Karl J. Åström and Richard M. Murray.

This book provides an introduction to the basic principles and tools for the design and analysis of feedback systems. It is intended to serve a diverse audience of scientists and engineers who are interested in understanding and utilizing feedback in physical, biological, information and social systems. A major goal of this book is to present a concise and insightful view of the current knowledge in feedback and control systems. In developing this book, we have attempted to condense the current knowledge by emphasizing fundamental concepts. We believe that it is important to understand why feedback is useful, to know the language and basic mathematics of control and to grasp the key paradigms that have been developed over the past half century. It is also important to be able to solve simple feedback problems using back-of-the-envelope techniques, to recognize fundamental limitations and difficult control problems and to have a feel for available design methods.

This page corresponds to the Second Edition of FBS. The first edition is also available. 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 (archive)

Contents

  • 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 3 - System Modeling (PDF, 24 Jul 2020)
    • Modeling Concepts
    • State Space Models
    • Modeling Methodology
    • Modeling Examples
  • 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 6 - Linear Systems (PDF, 24 Jul 2020)
    • Basic Definitions
    • The Matrix Exponential
    • Input/Output Response
    • Linearization
  • Chapter 7 - State Feedback (PDF, 24 Jul 2020)
    • Reachability
    • Stabilization by State Feedback
    • State Feedback Design
    • Integral Action
  • 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, 17 Aug 2019)
    • 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 (PDF, 24 Jul 2020) - single PDF file (35 MB)
  • iPad version (not yet available) - reduced margins