This essential textbook concerns analysis and control of engineering mechanisms, which includes almost any apparatus with moving parts used in daily life, from musical instruments to robots. A particular characteristic of this book is that it presents with considerable breadth and rigor both vibrations and controls. Many contemporary texts combine both of these topics in a single, one term course. This text supports the more favorable circumstance where the material is covered in a one year sequence contains enough material for a two semester sequence, but it can also be used in a single semester course combining two topics. “Mechanical Systems: A Unified Approach to Vibrations and Controls” presents a common notation and approach to these closely related areas. Examples from the both vibrations and controls components are integrated throughout this text.
Presents a unified approach to vibrations and controls, including an excellent diagram that simultaneously discusses embedding classical vibrations (mechanical systems) in a discussion of models, inverse models and open and closed loop controlMakes a careful connection of the Lagrangian approach and state spaceIntroduces the reader to a formal approach to linearization, something that every engineering student should know, but which is not included in many programs or undergraduate textbooksEmphasizes Includes simulations of nonlinear systems compared with the usual linear approximationsFeatures a concise discussion of DC motors, affording a more realistic approach to controlsIncludes a final chapter address feedback linearization generally, and in the context of robots with purely revolute joints