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| Preface | |
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| Continuous-Time System Description | |
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| Preview | |
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| Basic Concepts | |
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| Control System Terminology | |
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| The Feedback Concept | |
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| Modeling | |
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| System Dynamics | |
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| Electrical Components | |
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| Mesh Analysis | |
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| State Variables | |
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| Node Analysis | |
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| Analyzing Operational Amplifier Circuits | |
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| Operational Amplifier Applications | |
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| Translational Mechanical Components | |
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| Free Body Diagrams | |
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| State Variables | |
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| Rotational Mechanical Components | |
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| Free Body Diagrams | |
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| Analogies | |
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| Gear Trains and Transformers | |
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| Electromechanical Components | |
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| Aerodynamics | |
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| Nomenclature | |
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| Dynamics | |
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| Lateral and Longitudinal Motion | |
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| Thermal Systems | |
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| Hydraulics | |
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| Transfer Function and Stability | |
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| Transfer Functions | |
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| Response Terms | |
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| Multiple Inputs and Outputs | |
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| Stability | |
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| Block Diagrams | |
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| Block Diagram Elements | |
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| Block Diagram Reductions | |
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| Multiple Inputs and Outputs | |
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| Signal Flow Graphs | |
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| Comparison and Block Diagrams | |
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| Mason's Rule | |
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| A Positioning Servo | |
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| Controller Model of the Thyroid Gland | |
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| Stick-Slip Response of an Oil Well Drill | |
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| Summary | |
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| References | |
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| Problems | |
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| Continuous-Time System Response | |
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| Preview | |
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| Response of First-Order Systems | |
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| Response of Second-Order Systems | |
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| Time Response | |
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| Overdamped Response | |
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| Critically Damped Response | |
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| Underdamped Response | |
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| Undamped Natural Frequency and Damping Ratio | |
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| Rise Time, Overshoot and Settling Time | |
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| Higher-Order System Response | |
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| Stability Testing | |
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| Coefficient Tests | |
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| Routh-Hurwitz Testing | |
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| Significance of the Array Coefficients | |
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| Left-Column Zeros | |
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| Row of Zeros | |
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| Eliminating a Possible Odd Divisor | |
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| Multiple Roots | |
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| Parameter Shifting | |
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| Adjustable Systems | |
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| Khartinov's Theorem | |
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| An Insulin Delivery System | |
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| Analysis of an Aircraft Wing | |
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| Summary | |
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| References | |
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| Problems | |
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| Performance Specifications | |
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| Preview | |
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| Analyzing Tracking Systems | |
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| Importance of Tracking Systems | |
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| Natural Response, Relative Stability and Damping | |
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| Forced Response | |
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| Steady State Error | |
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| Initial and Final Values | |
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| Steady State Errors to Power-of-Time Inputs | |
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| Power-of-Time Error Performance | |
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| System Type Number | |
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| Achieving a Given Type Number | |
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| Unity Feedback Systems | |
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| Unity Feedback Error Coefficients | |
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| Performance Indices and Optimal Systems | |
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| System Sensitivity | |
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| Calculating the Effects of Changes in Parameters | |
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| Sensitivity Functions | |
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| Sensitivity to Disturbance Signals | |
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| Time Domain Design | |
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| Process Control | |
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| Ziegler-Nichols Compensation | |
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| Chien-Hrones-Reswick Compensation | |
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| An Electric Rail Transportation System | |
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| Phase-Locked Loop for a CB Receiver | |
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| Bionic Eye | |
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| Summary | |
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| References | |
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| Problems | |
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| Root Locus Analysis | |
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| Preview | |
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| Pole-Zero Plots | |
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| Poles and Zeros | |
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| Graphical Evaluation | |
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| Root Locus for Feedback Systems | |
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| Angle Criterion | |
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| High and Low Gains | |
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| Root Locus Properties | |
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| Root Locus Construction | |
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| More About Root Locus | |
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| Root Locus Calibration | |
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| Computer-Aided Root Locus | |
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| Root Locus for Other Systems | |
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| Systems with Other Forms | |
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| Negative Parameter Ranges | |
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| Delay Effects | |
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| Design Concepts (Adding Poles and Zeros) | |
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| A Light-Source Tracking System | |
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| An Artificial Limb | |
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| Control of a Flexible Spacecraft | |
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| Bionic Eye | |
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| Summary | |
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| References | |
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| Problems | |
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| Root Locus Design | |
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| Preview | |
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| Shaping a Root Locus | |
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| Adding and Canceling Poles and Zeros | |
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| Adding a Pole or Zero | |
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| Canceling a Pole or Zero | |
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| Second-Order Plant Models | |
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| An Uncompensated Example System | |
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| Cascade Proportional Plus Integral (PI) | |
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| General Approach to Compensator Design | |
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| Cascade PI Compensation | |
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| Cascade Lag Compensation | |
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| Cascade Lead Compensation | |
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| Cascade Lag-Lead Compensation | |
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| Rate Feedback Compensation (PD) | |
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| Proportional-Integral-Derivative Compensation | |
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| Pole Placement | |
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| Algebraic Compensation | |
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| Selecting the Transfer Function | |
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| Incorrect Plant Transmittance | |
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| Robust Algebraic Compensation | |
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| Fixed-Structure Compensation | |
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| An Unstable High-Performance Aircraft | |
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| Control of a Flexible Space Station | |
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| Control of a Solar Furnace | |
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| Summary | |
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| References | |
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| Problems | |
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| Frequency Response Analysis | |
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| Preview | |
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| Frequency Response | |
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| Forced Sinusoidal Response | |
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| Frequency Response Measurement | |
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| Response at Low and High Frequencies | |
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| Graphical Frequency Response Methods | |
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| Bode Plots | |
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| Amplitude Plots in Decibels | |
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| Real Axis Roots | |
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| Products of Transmittance Terms | |
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| Complex Roots | |
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| Using Experimental Data | |
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| Finding Models | |
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| Irrational Transmittances | |
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| Nyquist Methods | |
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| Generating the Nyquist (Polar) Plot | |
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| Interpreting the Nyquist Plot | |
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| Gain Margin | |
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| Phase Margin | |
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| Relations between Closed-Loop and Open-Loop Frequency Response | |
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| Frequency Response of a Flexible Spacecraft | |
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| Summary | |
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| References | |
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| Problems | |
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| Frequency Response Design | |
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| Preview | |
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| Relation between Root Locus, Time Domain, and Frequency Domain | |
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| Compensation Using Bode Plots | |
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| Uncompensated System | |
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| Cascade Proportional Plus Integral (PI) and Cascade Lag Compensations | |
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| Cascade Lead Compensation | |
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| Cascade Lag-Lead Compensation | |
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| Rate Feedback Compensation | |
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| Proportional-Integral-Derivative Compensation | |
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| An Automobile Driver as a Compensator | |
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| Summary | |
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| References | |
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| Problems | |
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| Space Analysis | |
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| Preview | |
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| State Space Representation | |
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| Phase-Variable Form | |
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| Dual Phase-Variable Form | |
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| Multiple Inputs and Outputs | |
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| Physical State Variables | |
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| Transfer Functions | |
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| State Transformations and Diagonalization | |
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| Diagonal Forms | |
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| Diagonalization Using Partial-Fraction Expansion | |
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| Complex Conjugate Characteristic Roots | |
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| Repeated Characteristic Roots | |
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| Time Response from State Equations | |
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| Laplace Transform Solution | |
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| Time-Domain Response of First-Order Systems | |
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| Time-Domain Response of Higher-Order Systems | |
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| System Response Computation | |
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| Stability | |
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| Asymptotic Stability | |
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| BIBO Stability | |
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| Internal Stability | |
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| Controllability and Observability | |
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| The Controllability Matrix | |
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| The Observability Matrix | |
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| Controllability, Observability and Pole-Zero Cancellation | |
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| Causes of Uncontrollability | |
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| Inverted Pendulum Problems | |
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| Summary | |
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| Space Design | |
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| Preview | |
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| State Feedback and Pole Placement | |
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| Stabilizability | |
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| Choosing Pole Locations | |
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| Limitations of State Feedback | |
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| Tracking Problems | |
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| Integral Control | |
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| Observer Design | |
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| Control Using Observers | |
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| Separation Property | |
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| Observer Transfer Function | |
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| Reduced-Order Observer Design | |
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| Separation Property | |
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| Reduced-Order Observer Transfer Function | |
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| A Magnetic Levitation System | |
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| Summary | |
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| State Space Methods | |
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| Preview | |
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| The Linear Quadratic Regulator Problem | |
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| Properties of the LQR Design | |
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| Return Difference Inequality | |
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| Optimal Root Locus | |
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| Optimal Observers--The Kalman Filter | |
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| The Linear Quadratic Gaussian (LQG) Problem | |
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| Critique of LGQ | |
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| Robustness | |
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| Feedback Properties | |
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| Uncertainty Modeling | |
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| Robust Stability | |
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| Loop Transfer Recovery(LTR) | |
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| HY Control | |
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| A Brief History | |
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| Some Preliminaries | |
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| HY Control: Solution | |
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| Weights in HY Control Problem | |
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| Summary | |
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| References | |
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| Problems | |
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| Control | |
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| Preview | |
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| Computer Processing | |
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| Computer History and Trends | |
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| A/D and D/A Conversion | |
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| Analog-to-Digital Conversion | |
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| Sample and Hold | |
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| Digital-to-Analog Conversion | |
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| Discrete-Time Signals | |
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| Representing Sequences | |
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| Z-Transformation and Properties | |
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| Inverse z-Transform | |
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| Sampling | |
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| Reconstruction of Signals from Samples | |
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| Representing Sampled Signals with Impulses | |
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| Relation between the z-Transform and the Laplace Transform | |
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| The Sampling Theorem | |
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| Discrete-Time Systems | |
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| Difference Equations Response | |
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| Z-Transfer Functions | |
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| Block Diagrams and Signal Flow Graphs | |
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| Stability and the Bilinear Transformation | |
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| Computer Software | |
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| State-Variable Descriptions of Discrete-Time Systems | |
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| Simulation Diagrams and Equations | |
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| Response and Stability | |
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| Controllability and Observability | |
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| Digitizing Control Systems | |
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| Step-Invariant Approximation | |
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| z-Transfer Functions of Systems with Analog Measurements | |
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| A Design Example | |
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| Direct Digital Design | |
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| Steady State Response | |
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| Deadbeat Systems | |
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| A Design Example | |
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| Summary | |
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| References | |
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| Problems | |
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| Matrix Algebra | |
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| Preview | |
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| Nomenclature | |
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| Addition and Subtraction | |
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| Transposition | |
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| Multiplication | |
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| Determinants and Cofactors | |
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| Inverse | |
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| Simultaneous Equations | |
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| Eigenvalues and Eigenvectors | |
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| Derivative of a Scalar with Respect to a Vector | |
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| Quadratic Forms and Symmetry | |
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| Definiteness | |
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| Rank | |
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| Partitioned Matrices | |
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| Problems | |
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| Laplace Transform | |
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| Preview | |
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| Definition and Properties | |
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| Solving Differential Equations | |
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| Partial Fraction Expansion | |
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| Additional Properties of the Laplace Transform | |
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| Real Translation | |
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| Second Independent Variable | |
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| Final Value and Initial Value Theorems | |
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| Convolution Integral | |
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| Index | |