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, 23 Sep 2016)
 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, 25 Sep 2016)
 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, 25 Sep 2016)
 Modeling Concepts
 State Space Models
 Modeling Methodology
 Modeling Examples
 Chapter 4  Examples (PDF, 25 Sep 2016)
 Cruise Control
 Bicycle Dynamics
 Operational Amplifier Circuits
 Computing Systems and Networks
 Atomic Force Microscopy
 Drug Administration
 Population Dynamics
 Chapter 5  Dynamic Behavior (PDF, 25 Sep 2016)
 Solving Differential Equations
 Qualitative Analysis
 Stability
 Lyapunov Stability Analysis
 Parametric and Nonlocal Behavior
 Chapter 6  Linear Systems (PDF, 08 Oct 2016)
 Basic Definitions
 The Matrix Exponential
 Input/Output Response
 Linearization
 Chapter 7  State Feedback (PDF, 12 Oct 2016)
 Reachability
 Stabilization by State Feedback
 State Feedback Design
 Integral Action

 Chapter 8  Output Feedback (PDF, 15 Oct 2016)
 Observability
 State Estimation
 Control Using Estimated State
 Kalman Filtering
 A General Controller Structure
 Chapter 9  Transfer Functions (PDF, 01 Nov 2015)
 Frequency Domain Modeling
 Derivation of the Transfer Function
 Block Diagrams and Transfer Functions
 The Bode Plot
 Laplace Transforms
 Chapter 10  Frequency Domain Analysis (PDF, 01 Nov 2015)
 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 Nov 2015)
 Basic Control Functions
 Simple Controllers for Complex Systems
 PID Tuning
 Integrator Windup
 Implementation
 Chapter 12  Frequency Domain Design (PDF, 01 Nov 2015)
 Sensitivity Functions
 Feedforward Design
 Performance Specifications
 Feedback Design via Loop Shaping
 The RootLocus Method
 Fundamental Limitations
 Design Example
 Chapter 13  Robust Performance (PDF, 01 Nov 2015)
 Modeling Uncertainty
 Stability in the Presence of Uncertainty
 Performance in the Presence of Uncertainty
 Robust Pole Placement
 Design for Robust Performance
 Chapter 14  Architecture and System Design
