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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 | |