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　　The publication of this book is motivated by two backgrounds， a major one and a subsidiary one， respectively.

　　Firstly， let's talk about the major background. In order to improve the international competitive power of China's tertiary education， Ministry of Education of the People's Republic of China released a document， named "Several opinions on strengthening undergraduate teaching works and improving teaching quality of colleges and universities" in the year 2001. The document explicitly points out that foreign language， English in particular，should be applied in general courses and the specialized courses teaching process for undergraduate education. The document also encourages colleges and universities to publish an English version textbook or to introduce an original English textbook， especially the former.

　　Since 2001， a number of colleges and universities have opened the specialized courses given in English. And most of colleges and universities selected the original English textbook and some colleges and universities just adopted the lecture notes written by teachers. Up till now，few English versions specialized textbook are published， especially about the control engineering.

　　Next， let's talk something about the subsidiary background. Our university， Dalian University of Technology， always encourage teachers to publish English version textbooks with the distinct specialized characteristic. There are several aspects for this encouragement.Although the original English textbooks are classical， they cannot match the teaching syllabus and teaclung system. Hence the original ones are not suitable for our course and profession construction. Some descriptions in original textbooks， such as signal， figure，equation， case， principle and terminology， are different from those used in relevant courses given in Chinese. The students cannot make a perfect connection with other courses so that they might be puzzled when trying to understand some principles or terminologies，For most courses， the instructors are faculty of the university who have taught this course in Chinese for several semesters. They would feel comfortable and give a nice presentation with the self-written English textbook， at the same time， and they could bring their professional advantages into the classes.

　　With the motivation of the above backgrounds as well as the experience of auditing two courses about control theory in the USA， the author of this textbook， who is in charge of teaching the same subject in DUT， realized the urgency of releasing the English version textbook herself. Combined with her two-year teaching experiment， the first edition of ‘Fundamentals of Control Engineering' is about to be published.

　　The main readers of this textbook are the students with the major of mechanical engineering. Based on the main content of the classical control theory， the author has referred to both several original textbooks in English and Chinese version.

Preface

Chapter 1 Introduction

1．1 System and System Analysis

1．2 Modeling the System

1．3 Solving the Model

1．4 Principle of Automatic Control Systems

1．4．1 Control and Control Systems

1．4．2 How Does an Automatic Control System Work?

1．5 Structure of Control Systems

1．5．1 Schematic Diagram for a Typical Automatic Control System

1．5．2 Terminologies

1．6 Characteristics of Control Systems

1．6．1 Stability

1．6．2 Accuracy

1．6．3 Dynamic Properties

1．6．4 Robustness

1．7 Classification of Control Systems (to Broadest Sense)

1．7．1 Open Loop Control System

1．7．2 Closed Loop Control System

1．8 Application of Control Theory in Mechanical Engineering Systems

1．9 Brief History of Automatic Control

1．10 Organization of Book

1．11 Drill Problems

Chapter 2 Laplace Transform Solution

2．1 Definition

2．2 Laplace Transforms of Common Functions

2．2．1 Step Function

2．2．2 Ramp Function

2．2．3 Pulse Function

2．2．4 Exponential Function

2．2．5 Trigonometric Function

2．2．6 Power Function

2．2．7 Summary

2．3 Laplace Transform Properties

2．3．1 Multiplication by a Constant

2．3．2 Superposition

2．3．3 Differential Theorem

2．3．4 Integral Theorem

2．3．5 Initial Value Theorem

2．3．6 Final Value Theorem

2．3．7 Shifting Theorem in Time Domain (Delay Theorem)

2．3．8 Shifting Theorem in Complex Domain

2．3．9 Partial Fraction Method

2．4 Laplace Transform Inversion

2．4．1 Distinct Poles

2．4．2 Repeated Poles

2．4．3 Complex Poles

2．5 Drill Problems

Chapter 3 Formulation and Dynamic Behavior of Translational Mechanical Systems

3．1 Introduction

3．1．1 Concepts of Mathematical Models

3．1．2 Types or Mathematical Models

3．2 Variables

3．3 Element Laws

3．3．1 Mass

3．3．2 Friction

3．3．3 Stiffness

3．4 Interconnection Laws

3．4．1 D'Alembert's Law

3．4．2 The Law of Reaction Forces

3．5 Obtaining the System Model

3．5．1 Free-Body Diagrams

3．5．2 Parallel Combinations

3．5．3 Series Combinations

3．6 Drill Problems

Chapter 4 Formulation and Dynamic Behavior of Electrical Systems

4．1 Element Laws

4．1．1 Resistor

4．1．2 Capacitor

4．1．3 Inductor

4．2 Interconnection Laws

4．2．1 Kirchhoff's Voltage Law

4．2．2 Kirchhoff's Current Law

4．2．3 The Nodal Method of Electrical Network Analysis

4．3 Analogue relationships among different systems

4．4 Examples

4．5 Drill Problems

Chapter 5 Fundamentals of Control Systems

5．1 Representation of Control Systems

5．2 The Transfer Function

5．2．1 Definition of the Transfer Function

5．2．2 Properties of the Transfer Function

5．2．3 The Rational Polynomial Form of a Transfer Function

5．2．4 Transfer Function of Elements in Series Connection

5．2．5 Transfer Function of Elements in Parallel Connection

5．2．6 Remarks

5．3 The Transfer Function for Typical Links

5．3．1 Proportion Link

5．3．2 Integral Link

5．3．3 Inertial Link

5．3．4 Differential Link

5．3．5 Oscillation Link

5．4 Function Block Diagrams

5．4．1 Introduction

5．4．2 Summing Point and Tie Point

5．4．3 Terminologies

5．4．4 Simplification of the Function Block Diagram

5．5 Plot the Function Block Diagrams

5．6 Signal Flow Diagrams

5．6．1 Introduction to Signal Flow Diagrams

5．6．2 Draw the Signal Flow Diagram

5．6．3 Mason's Gain Formula

5．7 Drill Problems

Chapter 6 Time Response Analysis of Control Systems

6．1 Introduction

6．2 Time Response from Transfer Function

6．2．1 Response of First-Order System

6．2．2 Response of Second-Order System

6．2．3 Approximate Analysis of High-Order System

6．3 Performance Specifications in Time Domain

6．3．1 Performance Specifications of First-Order System

6．3．2 Performance Specifications of Second-Order System

6．4 Drill Problems

Chapter 7 Frequency Response Analysis of Control Systems

7．1 Concepts

7．2 Graphical Descriptions： Nyquist Diagram and Bode Diagram

7．2．1 Simple Rules for Plotting Nyquist Diagram

7．2．2 The Nyquist Diagrams for Typical Links

7．2．3 Simple Rules for Plotting Bode Diagrams

7．2．4 The Bode Diagrams for Typical Links

7．3 The Open Loop Bode Diagram of Control System

7．4 Minimum Phase Systems

7．5 Nyquist Stability Criterion

7．5．1 The Explanation for Nyquist Stability Criterion

7．5．2 Some Tips for Nyquist Stability Criterion

7．5．3 Nyquist Stability Criterion for Minimum Phase System

7．5．4 Stability Margin

7．6 Drill Problems

Chapter 8 Stability Analysis of Control Systems

8．1 Stability

8．2 Conditions for the System Stability

8．3 Routh-Hurwitz Stability Criterion

8．3．1 The Preconditions for Routh-Hurwitz Stability Criterion

8．3．2 Full Condition for Routh-Hurwitz Stability Criterion

8．3．3 Special Cases for Routh-Hurwitz Stability Criterion

8．4 Drill Problems

Chapter 9 Error Analysis and Calculation of Control Systems

9．1 Terminologies

9．1．1 Deviation

9．1．2 Steady-State Deviation

9．1．3 Desired Output Value

9．1．4 Error

9．1．5 Steady-State Error

9．2 Static Error Coefficients

9．2．1 Two Impact Factors of the Steady-State Error

9．2．2 The Static Error Coefficients and the Steady-State Error

9．3 Steady-State Error Calculation

9．3．1 Steady-State Deviation Calculation

9．3．2 Steady-State Error Calculation

9．4 Methods for Reducing Steady-State Error

9．4．1 Increase Open Loop Gain

9．4．2 Increasing System Types

9．4．3 Feed Forward Control

9．4．4 Compound Control

9．5 Drill Problems

References