Ogata Katsuhiko. Modern Control Engineering

4th ed. — Prentice Hall, New Jersey, 2002. — 964 p.This book presents a comprehensive treatment of the analysis and design of control systems. It is written at the level of the senior engineering (mechanical, electrical, aerospace, and chemical) student and is intended to be used as a text for the first course in control systems. The prerequisite on the part of the reader is that he or she has had introductory courses on differential equations, vector-matrix analysis, circuit analysis, and mechanics.
The main revision made in the fourth edition of the text is to present two-degrees-of-freedom control systems to design high performance control systems such that steady-state errors in following step, ramp, and acceleration inputs become zero. Also, newly presented is the computational (MatLAB) approach to determine the pole-zero locations of the controller to obtain the desired transient response characteristics such that the maximum overshoot and settling time in the step response be within the specified values. These subjects are discussed in Chapter 10. Also, Chapter 5 (primarily transient response analysis) and Chapter 12 (primarily pole placement and observer design) are expanded using MatLAB. Many new solved problems are added to these chapters so that the reader will have a good understanding of the MatLAB approach to the analysis and design of control systems. Throughout the book computational problems are solved with MatLAB.