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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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Welcome to {{SITENAME}}.  This is the wiki for the Second Edition of text ''Feedback Systems'' by Karl J. {{Astrom}} and Richard M. Murray.  
  
{{warning|The second edition of FBS is still in beta. If you would like a more stable version of this book, please use the [[First Edition|first edition]].}}
+
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.
  
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.
+
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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   [[Category:Announcement]]
 
   [[Category:Announcement]]
 
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| width=50% |
 
| width=50% |
* {{FBS pdf|Preface and Contents|fbs-frontmatter|23Sep16}}
+
* {{FBS pdf|Preface and Contents|fbs-frontmatter|24Jul2020}}
  
* Chapter 1 - {{FBS pdf|Introduction|fbs-intro|23Sep16}}
+
* Chapter 1 - {{FBS pdf|Introduction|fbs-intro|24Jul2020}}
 
** What Is Feedback?
 
** What Is Feedback?
 
** What is Feedforward?
 
** What is Feedforward?
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** Control System Architectures
 
** Control System Architectures
  
* Chapter 2 - {{FBS pdf|Feedback Principles|fbs-principles|25Sep16}}
+
* Chapter 2 - {{FBS pdf|Feedback Principles|fbs-principles|24Jul2020}}
** Mathematical Models
+
** Nonlinear Static Models
 +
** Linear Dynamical Models
 
** Using Feedback to Improve Disturbance Attenuation
 
** Using Feedback to Improve Disturbance Attenuation
** Using Feedback to Follow Command Signals
+
** Using Feedback to Track Reference Signals
 
** Using Feedback to Provide Robustness
 
** Using Feedback to Provide Robustness
** Using Feedback to Shape Behavior
+
** Positive Feedback
 
** Feedback and Feedforward
 
** Feedback and Feedforward
  
* Chapter 3 - {{FBS pdf|System Modeling|fbs-modeling|25Sep16}}
+
* 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 4 - {{FBS pdf|Examples|fbs-examples|25Sep16}}
+
* Chapter 4 - {{FBS pdf|Examples|fbs-examples|24Jul2020}}
 
** Cruise Control  
 
** Cruise Control  
 
** Bicycle Dynamics  
 
** Bicycle Dynamics  
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** Population Dynamics  
 
** Population Dynamics  
  
* Chapter 5 - {{FBS pdf|Dynamic Behavior|fbs-dynamics|25Sep16}}
+
* Chapter 5 - {{FBS pdf|Dynamic Behavior|fbs-dynamics|24Jul2020}}
 
** Solving Differential Equations
 
** Solving Differential Equations
 
** Qualitative Analysis
 
** Qualitative Analysis
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** Parametric and Nonlocal Behavior
 
** Parametric and Nonlocal Behavior
  
* Chapter 6 - {{FBS pdf|Linear Systems|fbs-linsys|08Oct16}}
+
* 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 7 - {{FBS pdf|State Feedback|fbs-statefbk|12Oct16}}
+
* 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  
  
| width=50% |
+
* Chapter 8 - {{FBS pdf|Output Feedback|fbs-outputfbk|24Jul2020}}
* Chapter 8 - {{FBS pdf|Output Feedback|fbs-outputfbk|15Oct16}}
+
 
** Observability  
 
** Observability  
 
** State Estimation  
 
** State Estimation  
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** A General Controller Structure  
 
** A General Controller Structure  
  
* Chapter 9 - {{FBS pdf|Transfer Functions|fbs-xferfcns|22Oct16}}
+
| width=50% |
 +
* 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 10 - {{FBS pdf|Frequency Domain Analysis|fbs-loopanal|01Nov15}}
+
* 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 11 - {{FBS pdf|PID Control|fbs-pid|01Nov15}}
+
* 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  
+
** PID Tuning  
** Integrator Windup  
+
** Integrator Windup  
** Implementation  
+
** Implementation  
 +
 
 +
* Chapter 12 - {{FBS pdf|Frequency Domain Design|fbs-loopsyn|24Jul2020}}
 +
** Sensitivity Functions
 +
** Feedforward Design
 +
** Performance Specifications
 +
** Feedforward Design
 +
** Feedback Design via Loop Shaping
 +
** The Root-Locus Method
 +
** Design Example
  
* Chapter 12 - {{FBS pdf|Frequency Domain Design|fbs-loopsyn|01Nov15}}
+
* Chapter 13 - {{FBS pdf|Robust Performance|fbs-robperf|24Jul2020}}
** Sensitivity Functions
+
** Modeling Uncertainty
** Feedforward Design
+
** Stability in the Presence of Uncertainty
** Performance Specifications
+
** Performance in the Presence of Uncertainty
** Feedback Design via Loop Shaping
+
** Design for Robust Performance
**  The Root-Locus Method
+
**  Fundamental Limitations
+
**  Design Example
+
  
* Chapter 13 - {{FBS pdf|Robust Performance|fbs-robperf|01Nov15}}
+
* Chapter 14 - {{FBS pdf|Fundamental Limits|fbs-limits|24Jul2020}}  
** Modeling Uncertainty
+
** Effects of Design Decisions
** Stability in the Presence of Uncertainty
+
** Nonlinear Effects
** Performance in the Presence of Uncertainty
+
** Bode’s Integral Formula
** Robust Pole Placement
+
** Gain Crossover Frequency Inequality
** Design for Robust Performance
+
** The Maximum Modulus Principle
 +
** Robust Pole Placement
  
* Chapter 14 - Architecture and System Design
+
* 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|23Sep16}}
+
* {{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