Gene F. Franklin、J. David Powell、Abbas Emami-Naeini编著的《自动控制原理与设计》整合了自动化专业过去分散的专业课程，将经典自动控制原理、现代控制理论和非线性系统理论中的基础知识全部囊括其中，知识体系清晰、内容丰富饱满、适应当今社会对宽口径自动化专业技术人才的培养需求。每个章节的开篇都提纲挈领地给出了本章的知识背景和控制要求、以及全章的主要内容结构分布。在每个章节的末尾，还对本章的关键知识点进行小结，这有助于读者进一步理解所学知识，形成完整的知识体系。本书在介绍自动控制分析和设计方法的同时，还以丰富的设计实例配以详细的设计步骤，让读者能充分体会到控制系统的每一个设计细节，有利于快速地培养起读者的分析和设计控制系统的能力。

Gene F. Franklin、J. David Powell、Abbas Emami-Naeini编著的《自动控制原理与设计》是自动控制领域的经典著作，以自动控制系统的分析和设计为主线，在回顾自动控制系统动态响应和反馈控制的基本特性基础上，重点介绍了自动控制系统的三种主流设计方法，即根轨迹设计法、频率响应设计法和状态空间设计法。此外，还阐述了非线性系统的分析与设计，给出了一系列经典控制系统设计实例。全书在阐述自动控制原理和设计方法的过程中，适时地穿插有MATLAB仿真源代码和仿真实验结果。

《自动控制原理与设计》可作为高等院校自动化、电气工程、机电自动化及相关专业的高年级本科生和研究生的教材，还可供从事半导体制造、汽车控制、宇航自动化、运动控制、机器人、化工自动化等相关领域的教师、科研人员、工程技术人员作为参考用书。

1 An Overview and Brief History of Feedback Control

 A Perspective on Feedback Control

 Chapter Overview

 1.1 A Simple Feedback System

 1.2 A First Analysis of Feedback

 1.3 A Brief History

 1.4 An Overview of the Book

 Problems

2 Dynamic Response

 A Perspective on System Response

 Chapter Overview

 2.1 Review of Laplace Transforms

 2.1.1 Response by Convolution

 2.1.2 Transfer Functions and Frequency Response

 2.1.3 The L Laplace Transform

 2.1.4 Properties of Laplace Transforms

 2.1.5 Inverse LaplaceTransform by Partial-Fraction Expansion

 2.1.6 The Final Value Theorem

 2.1.7 Using Laplace Transforms to Solve Problems

 2.1.8 Poles and Zeros

 2.1.9 Linear System Analysis Using MATLAB

 2.2 System Modeling Diagrams

 2.2.1 The Block Diagram

 2.2.2 Block Diagram Reduction Using MATLAB

 2.3 Effect of Pole Locations

 2.4 Time-Domain Specifications

 2.4.1 Rise Time

 2.4.2 Overshoot and Peak Time

 2.4.3 Settling Time

 2.5 Effects of Zeros and Additional Poles

 2.6 Stability

 2.6.1 Bounded Input–Bounded Output Stability

 2.6.2 Stability of LTI Systems

 2.6.3 Routh’s Stability Criterion

 2.7 Historical Perspective

 Problems

3 A First Analysis of Feedback

 A Perspective on the Analysis of Feedback

 Chapter Overview

 3.1 The Basic Equations of Control

 3.1.1 Stability

 3.1.2 Tracking

 3.1.3 Regulation

 3.1.4 Sensitivity

 3.2 Control of Steady-State Error to Polynomial Inputs: SystemType

 3.2.1 System Type for Tracking

 3.2.2 System Type for Regulation and Disturbance Rejection

 3.3 The Three-Term Controller: PID Control

 3.3.1 Proportional Control (P)

 3.3.2 Proportional Plus Integral Control (PI)

 3.3.3 PID Control

 3.3.4 Ziegler–Nichols Tuning of the PID Controller

 3.4 Introduction to Digital Control

 3.5 Historical Perspective

 Problems

4 The Root-Locus Design Method

 A Perspective on the Root-Locus Design Method

 Chapter Overview

 4.1 Root Locus of a Basic Feedback System

 4.2 Guidelines for Determining a Root Locus

 4.2.1 Rules for Plotting a Positive (180°) Root Locus

 4.2.2 Summary of the Rules for Determining a Root Locus

 4.2.3 Selecting the Parameter Value

 4.3 Selected Illustrative Root Loci

 4.4 Design Using Dynamic Compensation

 4.4.1 Design Using Lead Compensation

 4.4.2 Design Using Lag Compensation

 4.4.3 Design Using Notch Compensation

 4.4.4 Analog and Digital Implementations

 4.5 A Design Example Using the Root Locus

 4.6 Extensions of the Root-Locus Method

 4.6.1 Rules for Plotting a Negative (0°) Root Locus

 4.7 Historical Perspective

 Problems

5 The Frequency-Response Design Method

 A Perspective on the Frequency-Response Design Method

 Chapter Overview

 5.1 Frequency Response

 5.1.1 Bode Plot Techniques

 5.1.2 Steady-State Errors

 5.2 Neutral Stability

 5.3 The Nyquist Stability Criterion

 5.3.1 The Argument Principle

 5.3.2 Application to Control Design

 5.4 Stability Margins

 5.5 Bode’s Gain–Phase Relationship

 5.6 Closed-Loop Frequency Response

 5.7 Compensation

 5.7.1 PD Compensation

 5.7.2 Lead Compensation

 5.7.3 PI Compensation

 5.7.4 Lag Compensation

 5.7.5 PID Compensation

 5.7.6 Design Considerations

 5.8 Historical Perspective

 Problems

6 State-Space Design

 A Perspective on State-Space Design

 Chapter Overview

 6.1 Advantages of State-Space

 6.2 System Description in State-Space

 6.3 Block Diagrams and State-Space

 6.3.1 Time and Amplitude Scaling in State-Space

 6.4 Analysis of the State Equations

 6.4.1 Block Diagrams and Canonical Forms

 6.4.2 Dynamic Response from the State Equations

 6.5 Control-Law Design for Full-State Feedback

 6.5.1 Finding the Control Law

 6.5.2 Introducing the Reference Input with Full-State Feedback

 6.6 Selection of Pole Locations for Good Design

 6.6.1 Dominant Second-Order Poles

 6.6.2 Symmetric Root Locus (SRL)

 6.6.3 Comments on the Methods

 6.7 Estimator Design

 6.7.1 Full-Order Estimators

 6.7.2 Reduced-Order Estimators

 6.7.3 Estimator Pole Selection

 6.8 Compensator Design: Combined Control Law and Estimator

 6.9 Introduction of the Reference Input with the Estimator

 6.9.1 A General Structure for the Reference Input

 6.9.2 Selecting the Gain

 6.10 Integral Control and Robust Tracking

 6.10.1 Integral Control

 6.11 Historical Perspective

 Problems

7 Nonlinear Systems

 Perspective on Nonlinear Systems

 Chapter Overview

 7.1 Introduction and Motivation: Why Study Nonlinear Systems?

 7.2 Analysis by Linearization

 7.2.1 Linearization by Small-Signal Analysis

 7.2.2 Linearization by Nonlinear Feedback

 7.2.3 Linearization by Inverse Nonlinearity

 7.3 Equivalent Gain Analysis Using the Root Locus

 7.3.1 Integrator Antiwindup

 7.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions

 7.4.1 Stability Analysis Using Describing Functions

 7.5 Historical Perspective

 Problems

8 Control System Design: Principles and Case Studies

 A Perspective on Design Principles

 Chapter Overview

 8.1 An Outline of Control Systems Design

 8.2 Design of a Satellite’s Attitude Control

 8.3 Lateral and Longitudinal Control of a Boeing 747

 8.3.1 Yaw Damper

 8.3.2 Altitude-Hold Autopilot

 8.4 Control of the Fuel–Air Ratio in an Automotive Engine

 8.5 Control of the Read/Write Head Assembly of a Hard Disk

 8.6 Control ofRTP Systems in SemiconductorWafer Manufacturing

 8.7 Chemotaxis or How E. Coli Swims Away from Trouble

 8.8 Historical Perspective

 Problems

Appendix Solutions to the Review Questions