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 ** Integral Action   ** Integral Action 
   
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 * Chapter 8  {{FBS pdfOutput Feedbackfbsoutputfbk24Oct18}}   * Chapter 8  {{FBS pdfOutput Feedbackfbsoutputfbk24Oct18}} 
 ** Observability   ** Observability 
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 ** A General Controller Structure   ** A General Controller Structure 
   
 +   width=50%  
 * Chapter 9  {{FBS pdfTransfer Functionsfbsxferfcns03Nov18}}   * Chapter 9  {{FBS pdfTransfer Functionsfbsxferfcns03Nov18}} 
 ** Frequency Domain Modeling   ** Frequency Domain Modeling 
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 ** Laplace Transforms   ** Laplace Transforms 
   
−  * Chapter 10  {{FBS pdfFrequency Domain Analysisfbsloopanal29Oct16}}  +  * Chapter 10  {{FBS pdfFrequency Domain Analysisfbsloopanal11Nov18}} 
 ** 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 pdfPID Controlfbspid08Nov16}}  +  * Chapter 11  {{FBS pdfPID Controlfbspid01Jan19}} 
−  ** 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 pdfFrequency Domain Designfbsloopsyn11Nov18}} 
 +  ** Sensitivity Functions 
 +  ** Feedforward Design 
 +  ** Performance Specifications 
 +  ** Feedforward Design 
 +  ** Feedback Design via Loop Shaping 
 +  ** The RootLocus Method 
 +  ** Design Example 
   
−  * Chapter 12  {{FBS pdfFrequency Domain Designfbsloopsyn16Nov16}}  +  * Chapter 13  {{FBS pdfRobust Performancefbsrobperf17Nov18}} 
−  ** 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 RootLocus Method
 +  
−  ** Fundamental Limitations
 +  
−  ** Design Example
 +  
   
−  * Chapter 13  {{FBS pdfRobust Performancefbsrobperf18Nov16}}  +  * Chapter 14  {{FBS pdfFundamental Limitsfbslimits27Nov18}} 
−  ** 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 (not yet available)  +  * Chapter 15  Architecture and System Design (not yet available) 
 ** Introduction   ** Introduction 
 ** Systems and Control Design   ** Systems and Control Design 
Latest revision as of 20:05, 1 January 2019
Welcome to FBSwiki. This is the wiki for the Second Edition of text Feedback Systems by Karl J. Åström 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.

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.
Contents
 Chapter 1  Introduction (PDF, 30 Sep 2018)
 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, 30 Sep 2018)
 Mathematical Models
 Using Feedback to Improve Disturbance Attenuation
 Using Feedback to Follow Command Signals
 Using Feedback to Provide Robustness
 Using Feedback to Shape Behavior
 Feedback and Feedforward
 Chapter 3  System Modeling (PDF, 03 Oct 2018)
 Modeling Concepts
 State Space Models
 Modeling Methodology
 Modeling Examples
 Chapter 4  Examples (PDF, 03 Oct 2018)
 Cruise Control
 Bicycle Dynamics
 Operational Amplifier Circuits
 Computing Systems and Networks
 Atomic Force Microscopy
 Drug Administration
 Population Dynamics
 Chapter 5  Dynamic Behavior (PDF, 06 Oct 2018)
 Solving Differential Equations
 Qualitative Analysis
 Stability
 Lyapunov Stability Analysis
 Parametric and Nonlocal Behavior
 Chapter 6  Linear Systems (PDF, 06 Oct 2018)
 Basic Definitions
 The Matrix Exponential
 Input/Output Response
 Linearization
 Chapter 7  State Feedback (PDF, 12 Oct 2018)
 Reachability
 Stabilization by State Feedback
 State Feedback Design
 Integral Action
 Chapter 8  Output Feedback (PDF, 24 Oct 2018)
 Observability
 State Estimation
 Control Using Estimated State
 Kalman Filtering
 A General Controller Structure

 Chapter 9  Transfer Functions (PDF, 03 Nov 2018)
 Frequency Domain Modeling
 Derivation of the Transfer Function
 Block Diagrams and Transfer Functions
 The Bode Plot
 Laplace Transforms
 Chapter 10  Frequency Domain Analysis (PDF, 11 Nov 2018)
 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, 01 Jan 2019)
 Basic Control Functions
 Simple Controllers for Complex Systems
 PID Tuning
 Integrator Windup
 Implementation
 Chapter 12  Frequency Domain Design (PDF, 11 Nov 2018)
 Sensitivity Functions
 Feedforward Design
 Performance Specifications
 Feedforward Design
 Feedback Design via Loop Shaping
 The RootLocus Method
 Design Example
 Chapter 13  Robust Performance (PDF, 17 Nov 2018)
 Modeling Uncertainty
 Stability in the Presence of Uncertainty
 Performance in the Presence of Uncertainty
 Design for Robust Performance
 Chapter 14  Fundamental Limits (PDF, 27 Nov 2018)
 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 (not yet available)
 Introduction
 Systems and Control Design
 TopDown Architectures
 BottomUp Architectures
 Interaction
 Adaptation, Learning and Cognition
 Control Design in Common Application Fields
