《线性控制系统工程》的特点是，从非控制工程专业本科生对控制理论的需求和教学学时相对要少的实情出发，相比于流行的控制工程专业控制理论教材，在体系结构和内容安排上作了富有新意的改革。

本书作者德赖斯的教学实践表明，这种体系结构和内容安排已经取得了很好的效果，通过较少的教学学时，既加深了学生对基本理论和基本方法的理解深度和运用能力，也提高了学生运用所学知识解决实际工程问题的能力，这对于非控制工程专业本科生的知识需要和认识规律无疑是很合适的。

由Morris Drieis编著的“Linear Control Systems Engineering”一书出版于1995年。《线性控制系统工程》(作者德赖斯)的定位是要为机械工程、电机工程、电子工程、计算机工程等非控制工程专业的本科生提供一本内容适度、实用性强和学时较少的控制理论教材。内容覆盖了经典控制理论和现代控制理论的基础部分，方法包括了频率响应法、根轨进法和状态空间法。本书已被美国多所知名大学采用作为电子工程等专业的本科层次的控制理论教材或主要教学参考书。

《线性控制系统工程》的主要特点是，从非控制工程专业本科生对控制理论的需求和教学学时相对要少的实情出发，在体系结构和内容安排上作了富有新意的改革。例如，破除章节式结构、设立专题；破除按一个结论引入例子的惯例，增加来自不同专业工程的研究案例。

Preface

MODULE 1 INTRODUCTION TO FEEDBACK CONTROL

MODULE 2 TRANSFER FUNCTIONS AND BLOCK DIAGRAM ALGEBRA

Transfer Functions

Block Diagram Algebra

MODULE 3 FIRST-ORDER SYSTEMS

Impulse Response

Step Response

Ramp Response

Harmonic Response

First-Order Feedback Systems

Complex-Plane Representation: Poles and Zeros

Poles and Zeros of First-Order Systems

Dominant Poles

MODULE 4 SECOND-ORDER SYSTEMS

Second-Order Electrical System

Step Response

MODULE 5 SECOND-ORDER SYSTEM TIME-DOMAIN RESPONSE

Ramp Response

Harmonic Response

Relationship between System Poles and Transient Response

Time-Domain Performance Specifications

MODULE 6 SECOND-ORDER SYSTEMS: DISTURBANCE REJECTION AND

RATE FEEDBACK

Open- and Closed-Loop Disturbance Rejection

Effect of Velocity Feedback

MODULE 7 HIGHER-ORDER SYSTEMS

Reduction to Lower-Order Systems

Third-Order Systems

Effect of a Closed-Loop Zero

Occurrence of Closed-Loop Zeros

MODULE 8 SYSTEM TYPE: STEADY-STATE ERRORS

Impulse Input

Step Input

Ramp Input

Acceleration Input

Non-Unity-Feedback Control Systems

MODULE 9 ROUTH'S METHOD, ROOT LOCUS: MAGNITUDE AND PHASE

EQUATIONS

Routh's Stability Criterion

Root Locus Method: Magnitude and Phase Equations

MODULE 10 RULES FOR PLOTTING THE ROOT LOCUS

MODULE 11 SYSTEM DESIGN USING THE ROOT LOCUS

MultiLoop System

System Design in the Complex Plane

Performance Requirements as Complex-Plane Constraints

Steady-State Error

Desirable Areas of Complex Plane for "Good" Response

MODULE 12 FREQUENCY RESPONSE AND NYQUIST DIAGRAMS

Frequency Response

Nyquist Diagrams from Transfer Functions

MODULE 13 NYQUIST STABILITY CRITERION

Conformal Mapping: Cauchy's Theorem

Application to Stability

Some Comments on Nyquist Stability

Alternative Approach to Nyquist Stability Criterion

MODULE 14 NYQUIST ANALYSIS AND RELATIVE STABILITY

Conditional Stability

Gain and Phase Margins

MODULE 15 BODE DIAGRAMS

Bode Diagrams of Simple Transfer Functions

Bode Diagrams of Compound Transfer Functions

Elemental Bode Diagrams

MODULE 16 BODE ANALYSIS, STABILITY, AND GAIN AND PHASE MARGINS

Conditional Stability

Gain and Phase Margins in the Bode Diagram

System Type and Steady-State Error from Bode Diagrams

Further Discussion of Gain and Phase Margins

MODULE 17 TIME RESPONSE FROM FREQUENCY RESPONSE

Bode Diagram from the Root Locus

Closed-Loop Time Response from Open-Loop Phase Margin

Time Response of Higher-Order Systems

MODULE 18 FREQUENCY-DOMAIN SPECIFICATIONS AND CLOSED-LOOP

FREQUENCY RESPONSE

Frequency-Domain Specifications

Closed-Loop Frequency Response from Nyquist Diagram

Closed-Loop Frequency Response from Bode Diagram

Gain for a Desired Mp from the Nyquist Diagram

Gain For a Desired Mp from the Nichols Chart

Non-Unity-Feedback Gain Systems

MODULE 19 PHASE LEAD COMPENSATION

Multiple-Design Constraints

Transfer Function of Phase Lead Element

Phase Lead Compensation Process

Comments on the Applicability and Results of Phase Lead

Compensation

MODULE 20 PHASE LAG AND LEAD-LAG COMPENSATION

Transfer Function of Phase Lag Element

Phase Lag Compensation Process

Comments on Phase Lag Compensation

Lead-Lag Compensation

Transfer Function of a Lead-Lag Element

Lead-Lag Compensation Process

MODULE 21 MULTIMODE CONTROLLERS

Proportional Control

Proportional-Plus-Integral Control

Proportional-Plus-Derivative Control

Proportional-Plus-Integral-Plus-Derivative Control

MODULE 22 STATE-SPACE SYSTEM DESCRIPTIONS

State-Space Form Equations from Transfer Functions

Transfer Function from State-Space Form

Transformation of State Variable and Invariability of

System Eigenvectors

Canonical Forms and Decoupled Systems

Relationship between Eigenvalues and System Poles

MODULE 23 STATE-SPACE SYSTEM RESPONSE, CONTROLLABILITY,

AND OBSERVABILITY

Direct Numerical Solution of the State Equation

Solution Using State Transition Matrix

Solution Using Laplace Transforms

System Stability

Controllability and Observability

MODULE 24 STATE-SPACE CONTROLLER DESIGN

Direct Calculation of Gains by Comparison with

Characteristic Equation

Pole Placement via Control Canonical Form of State

Equations

Pole Placement via Ackermann's Formula

MODULE 25 STATE-SPACE OBSERVER DESIGN

Observer Synthesis

Compensator Design

CONTROL SYSTEM DESIGN: CASE STUDIES

MODULE 26 WAVE ENERGY ABSORBTION DEVICE

Open loop frequency response, bandwidth, selection

of feedback gains, closed loop frequency response,

Nichols charts

MODULE 27 MISSILE ATTITUDE CONTROLLER

Model construction, block diagram representation,

multimode controller design, root locus, state-space

analysis and controller design, pole placement

MODULE 28 ROBOTIC HAND DESIGN

Multi-loop feedback systems, steady state values

of force and position, control system synthesis,

adaptive control

MODULE 29 PUMPED STORAGE FLOW CONTROL SYSTEM

Hydraulic system modeling, characteristic equation,

P + I controller, state-space analysis, controllability,

Ackermann's method

MODULE 30 SHIP STEERING CONTROL SYSTEM

Modeling, root locus, stabilization of unstable systems,

performance constraints, iterative root locus, rate feedback

MODULE 31 CRUISE MISSILE ALTITUDE CONTROL SYSTEM

Design in frequency domain, signal and noise, design

constraint boundaries, open loop design from closed

loop requirements, lead-lag controller

MODULE 32 MACHINE TOOL POWER DRIVE SYSTEM WITH FLEXIBILITY

System modeling, P + D control, poor performance, state

space model, pole placement, comparison of performance

APPENDIX 1 REVIEW OF LAPLACE TRANSFORMS AND THEIR USE

IN SOLVING DIFFERENTIAL EQUATIONS

Linear Properties

Shifting Theorem

Time Differentials

Final-Value Theorem

Inverse Transforms

Solving Linear Differential Equations

Index