Second Edition

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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.

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.

News (archive)

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, 08 Nov 2016)
    • 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 Root-Locus 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
    • Top-Down Architectures
    • Bottom-Up Architectures
    • Interaction
    • Adaptation, Learning and Cognition
    • Control Design in Common Application Fields