Modern Control Engineering Fifth Edition Katsuhiko Ogata Prentice Hall
This book introduces important concepts in the analysis and design of control systems.
Readers will find it to be a clear and understandable textbook for control system courses
at colleges and universities. It is written for senior electrical, mechanical, aerospace, or
chemical engineering students. The reader is expected to have fulfilled the following
prerequisites: introductory courses on differential equations, Laplace transforms, vectormatrix
analysis, circuit analysis, mechanics, and introductory thermodynamics.
The main revisions made in this edition are as follows:
• The use of MATLAB for obtaining responses of control systems to various inputs
has been increased.
• The usefulness of the computational optimization approach with MATLAB has been
demonstrated.
• New example problems have been added throughout the book.
• Materials in the previous edition that are of secondary importance have been deleted
in order to provide space for more important subjects. Signal flow graphs were
dropped from the book. A chapter on Laplace transform was deleted. Instead,
Laplace transform tables, and partial-fraction expansion with MATLAB are presented
in Appendix A and Appendix B, respectively.
• A short summary of vector-matrix analysis is presented in Appendix C; this will help
the reader to find the inverses of n x n matrices that may be involved in the analysis
and design of control systems.
This edition of Modern Control Engineering is organized into ten chapters.The outline of
this book is as follows: Chapter 1 presents an introduction to control systems. Chapter 2
deals with mathematical modeling of control systems.A linearization technique for nonlinear
mathematical models is presented in this chapter. Chapter 3 derives mathematical
models of mechanical systems and electrical systems. Chapter 4 discusses mathematical
modeling of fluid systems (such as liquid-level systems, pneumatic systems, and hydraulic
systems) and thermal systems.
Chapter 5 treats transient response and steady-state analyses of control systems.
MATLAB is used extensively for obtaining transient response curves. Routh’s stability
criterion is presented for stability analysis of control systems. Hurwitz stability criterion
is also presented.
Chapter 6 discusses the root-locus analysis and design of control systems, including
positive feedback systems and conditionally stable systems Plotting root loci with MATLAB
is discussed in detail. Design of lead, lag, and lag-lead compensators with the rootlocus
method is included.
Chapter 7 treats the frequency-response analysis and design of control systems.The
Nyquist stability criterion is presented in an easily understandable manner.The Bode diagram
approach to the design of lead, lag, and lag-lead compensators is discussed.
Chapter 8 deals with basic and modified PID controllers. Computational approaches
for obtaining optimal parameter values for PID controllers are discussed in detail, particularly
with respect to satisfying requirements for step-response characteristics.
Chapter 9 treats basic analyses of control systems in state space. Concepts of controllability
and observability are discussed in detail.
Chapter 10 deals with control systems design in state space.The discussions include
pole placement, state observers, and quadratic optimal control. An introductory discussion
of robust control systems is presented at the end of Chapter 10.
The book has been arranged toward facilitating the student’s gradual understanding
of control theory. Highly mathematical arguments are carefully avoided in the presentation
of the materials. Statement proofs are provided whenever they contribute to the
understanding of the subject matter presented.
Special effort has been made to provide example problems at strategic points so that
the reader will have a clear understanding of the subject matter discussed. In addition,
a number of solved problems (A-problems) are provided at the end of each chapter,
except Chapter 1.The reader is encouraged to study all such solved problems carefully;
this will allow the reader to obtain a deeper understanding of the topics discussed. In
addition, many problems (without solutions) are provided at the end of each chapter,
except Chapter 1.The unsolved problems (B-problems) may be used as homework or
quiz problems.
If this book is used as a text for a semester course (with 56 or so lecture hours), a good
portion of the material may be covered by skipping certain subjects. Because of the
abundance of example problems and solved problems (A-problems) that might answer
many possible questions that the reader might have, this book can also serve as a selfstudy
book for practicing engineers who wish to study basic control theories.
I would like to thank the following reviewers for this edition of the book: Mark Campbell,
Cornell University; Henry Sodano, Arizona State University; and Atul G. Kelkar,
Iowa State University.Finally, I wish to offer my deep appreciation to Ms.Alice Dworkin,
Associate Editor, Mr. Scott Disanno, Senior Managing Editor, and all the people involved
in this publishing project, for the speedy yet superb production of this book



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