]<gj]<]<j<^]<]

? ? ?
K?

? ?W

K??

K
K


]<gj]<]<j<^]<]

Meqin

W
W
K

K
K
K

K
KW

--

(Automatic Control Systems Technology)

KK

KKKK

(Urban Planning) (Transportation Systems)

KKK(Environment)

--

(t)

in

WJ

(input flow rate)Wqin

(output flow rate)Wqout

(inlet valve)WRin

(outlet valve)WRout

Manual ControlW

KEF

WJ

--

W(Process to be controlled)
K

:(Sensor)
KEhF

W(Comparator)
K

W(Controller)
K

W(Actuator)
(Final

Control

Element)

Mechanical ControlW

K
??(Mechanical Control)

??K

--

Pneumatic

WF

KEHydraulic ControlWFEControl

qi

WJ

(Electronic Control)W

KJ K

--

()

q
()

WJ

W(Analogue)
KJ

--

(Digital)
KJ

W(Analogue Control Systems)

W(Digital Control Systems)

(Computer Control Systems)

K

W(DDC: Direct Digital Control)

K

(SCADA: Supervisory Control and Data

K(Monitoring)WAcquisition)
K

(DCS: Distributed Control Systems)

W(PLC: Programmable Logic Controller:)

K(sequential)
--

System

KJ

W(Control System)

KJ

?Signal?

K
Kh(t)qin

--

KK
W

--

W
DDC
DCS
SCADA
PLC

--


]<gj]<]<j<^]<]

--

KW

Block Diagram

KEF

KJ

System

In

O
utput

put

J (take off point)

J (summing junctions)

Z=x
y

--

J J

q
i

(t)

qi
n(t)

h(t

System

--

J
J

EF

()

Er(t)F

Kh(t)
W
h(t

r(t
)

W(Subsystems)

--

KEF

()

()

Laplace Transforms

tK
EJ F

W+js

L( f (t )) = F ( s ) =

f (t )e

st

dt

f(t)L(f(t))

--

WA

EJ F

A; t 0
x (t ) =
0 t<0

X ( s ) = x (t )e

st

dt = Ae st dt

A
X ( s ) = e st
s

=
0

A
s

u(t) A=1

W
U ( s) =

A
s

EJ F

Ae at ; t 0
x (t ) =
0
t<0

WEJ F
--

X ( s ) = x (t )e st dt = Ae at e st dt = Ae ( s a )t dt

A st
X ( s) =
e
sa

=
0

A
sa

KEJ F

K
W

EJ F

L( af (T ) + bg (t ) + = aF ( s ) + bG ( s )

L( g (t )) = G ( s ) L( f (t )) = F ( s )

K
W

EJ F
EJ F

L(f'(t))=sF(s)-f(0)

WEJ F
L(f''(t))=s2F(s)-sf('(0)-f(0)

s?W

K?

t; t 0
r (t ) =
0; t < 0

--

t = 0 1dt
t

r (t ) = 0 u( )d W

EJ F
EJ F

L( r (t )) =

1
L(u(t )) L(u(t )) = sL(( r (t ))
s

L( r (t )) =

s2

WTime Shift
L( f (t T ) = e sT F ( s )

WFinal Value Theorem

lim sF ( s)
s

EJ F

Wf(t)

f (0) = lim sF ( s )
s

W(final value theorem)

lim sF ( s)
s0

Wf(t)
lim f (t ) = lim sF ( s)

EJ F

t 0

KEJ F
Transfer Function
W

--

Proportional System

W o
W

y(t) = Kx(t)

EJ F

KK

W o
W

x(t
)

y(t

--

W o
KEJ F

L( y (t )) = L( Kx(t ))

Y(s) = KX(s)

G( s) =

Y ( s)
=K
X ( s)

WRC J
R1
+

+
R2 v2

We v2
R
v2 = 2 e
R1

R
V2 ( s ) = 2 E ( s )
R1

W
V2 ( s ) R2
=
E ( s ) R1

y(t

x(t
)

R2
R1

Derivative System

WW o
--

EJ F

y (t ) =

dx (t )
dt

W
o
W

d
dt

W o
KEJ F

L( y (t )) = L(

dx (t )
) = L( x ' (t ))
dt

Y(s) = sX(s)

G( s) =

Y ( s)
=s
X ( s)

Ks
X

d
dt

sJ

--

WRC J
R
C

+
ei
-

+
eo
-

Weoei
eo = RC

dei
= RC (ei )'
dt

Eo( s ) = RCsEi( s )

Eo( s )
= RCs
Ei ( s )

y(t

x(t
)

RCs

Integral System

WW o
EJ F

y (t ) = x ( )d
0

W
o
W

--

W
o
KEJ F

L( y (t )) = L( x ( )d )
0

yxx y
X ( s) = sY ( s)

G( s) =

Y ( s) 1
=
X ( s) s

Ks
X

1
s

J
s

--

WRC J
C
R

+
ei
-

+
eo
-

Weoei

eo = RC eidt
0

Eo( s ) =

1
Ei ( s )
RC

Eo( s )
1
=
Ei ( s )
RCs

y(t

x(t
)

RCs

--

Systems Interconnection

Series Connection o

EJ F

G ( s ) = G1 ( s )G 2 ( s )

()

G1(s)

Y
()

()

G2(s)

X
()

Parallel Connection o

J
K

X
()

()

G1(s)

Y
()

()
X
()

Y
G2(s)

()

J
EJ F

G ( s ) = G1 ( s ) + G 2 ( s )

Feedback Configuration o
--

EJ F

C ( s)
G( s)
=
R( s) 1 + G ( s) H ( s)

H(s)G(s)
R(

C(

G(

H(

W J
X
1(s)

Y
1(s)

G1(s)

G2(s)

2(s)

2(s)

G2 ( s) =

10
G1 ( s ) = 1
2s + 1
s +1

Y ( s)
G( s) = 2
= G1 ( s ) G 2 ( s )
X 1( s )
=

1
10

s + 1 2s + 1
10

2 s 2 + 3s + 1

--

1(s)

2(s)

(s)

W J
X
1(s)

Y
1(s)

G1(s)

(s)

(s)
X

2(s)

G2(s)

2(s)

G2 ( s) =

20
G1 ( s) = 1
0.1s + 5
0.25s + 1

--

G( s) =

Y ( s)
= G1 ( s ) + G 2 ( s )
X (s)
20
10
+
s + 5 s +1
20( s + 1)
10( s + 5)
=
+
( s + 5)( s + 1) ( s + 5)( s + 1)
30s + 70
=
( s + 5)( s + 1)
30s + 7
=
2
s + 6s + 5

(s)
30s + 7

(s)

s 2 + 6s + 5

W J
R(s

C(s

G(s

H(s
H(s)=1 G ( s ) =

0.25s + 1

--

C ( s)
G( s)
=
R( s) 1 + G ( s) H ( s)

1
= 0.25s + 1
1
1+
0.25s + 1
1
=
0.25s + 2

R(s)

C
(s)

1
0.25s + 2

--

EJ F

A
s

A; t 0
u (t ) =
0; t < 0

At; t 0
r (t ) =
0; t < 0

e at

1
sa

s +

sin t

s
2

s +

cos t

EJ F

L( af (t ) + bg (t )) = aF ( s ) + bG ( s )

L( f ( at )) =

s
1
F( )
a
a

L( f (t T )) = e sT F ( s )

K
K
t

L( e at f (t )) = F ( s a )

s K

L( f ' (t )) = sF ( s ) f (0)

lim f (t ) = lim sF ( s )

lim f (t ) = lim sF ( s )

t 0

s 0

--

W
K

KEF

--

WRCJ

+
+ vR(t)e(t)

v(t)

Kx(t)F(t)MJ

F(t)
M

x(t)

TaTq(t)J

q(t)

T,C

Ta
R

t0x(t) = 10 J

--

t0x(t) = -10

J
t0x(t) =-3tJ
t0x(t) = 2t J
t0z(t)=e5t J
t0z(t)=10e-7t J
t0x(t)=2sin3t J
t0y(t)=10Cos5tJ
t0v(t)=eatCos t J
t0w(t)=eatsint J
W
R

C(s)

1
s

+3

R(
t)

1
0.1s

C(
+1

t)

EJ F

--

2
0.5s
+1

R(s)

C(s)
E(s)
s+5

1
s+1

--


]<gj]<]<j<^]<]

W
W
K

K
K

K
K

--

K
K

First Order Systems

RC

K
R

+ vr(t) +

e(t)

v(t)

RCJ

W
EJ F

vr (t ) + v (t ) = e(t )

W
EJ F

vr (t ) = Ri (t )

W
--

EJ F

i ((t ) = Cv' (t )

WEJ F
EJ F

RCv' (t ) + v(t ) = e(t )

J RCEJ F

K
W K

J
EJ F

L( RCv' (t ) + v (t )) = L( e(t ))

L(v(t))=V(s)L(e(t))=E(s)

J L(v'(t))=sV(s)
EJ F

RCsV ( s ) + V ( s ) = E ( s )

W
EJ F

G( s) =

V ( s)
1
=
E ( s ) RCs + 1

K
K

Ks

--

EJ F

y ' (t ) + y (t ) = Gx (t )

Wx(t)

Wy(t)

WG

WEJ F

K1y(t)
Gx(t)

y'(t)

W
EJ F

G ( s) =

Y (S )
G
=
X ( s ) s + 1

E, t 0
x (t ) =
0 t<0

W
EJ F

y (t ) = y 0 e t / + GE (1 e t / )

EFy(0)=y0

--

yss
y(t

0.

0.

0
t

J
y0=0

Output Steady State Value

EFt

EJ F

y ss = lim y (t )
t

Time Constant

-1EJ F

--

t=y(t)
EF

EJ F

y ( ) = GE (1 e 1 ) = 0.63GE = 0.63 y ss

Settling Time
W
t s = 4

EJ F

Gain Coefficient

EJ F

y
G = ss
E

0.1 y ' (t ) + y (t ) = 2 x (t )
y ( 0) = 0

5 0
x (t ) =
0 t < 0

y(t)

y' K

= 0 .1

y'(t)=0y(t)

y ss = 2 x
G=

y ss
=2
x

K
--

E=5y0=0 G=2WEJ F

y (t ) = y 0 e t / + GE (1 e t / )

y (t ) = 10(1 e t / )

y ss = lim y (t ) = GE = 10
t

--

10

y(t)
t

0
.1

.2

.3

.4

J
KRA

q
(t)

h(t)

qi ( t ) = q s ( t ) + qo ( t )

W
--

Wqi(t) K

Wqs(t) K
EV (t ) = Ah(t ) F q s (t ) = dV (t )

dt
dh(t )
q s (t ) = A
dt

EF qo (t ) = 1 h(t ) Wqo(t) K
R

R A dh(t ) + 1 h(t ) = qi (t )
EJ F

dt
R
dh(t )
AR
+ h(t ) = Rqi (t )
dt

EJ F

dh(t )
+ h(t ) = Rqi (t )
dt

= AR

EJ FRCEJ F

CA
K

--

Second Order Systems

LRCK

e(t)

+ vl(t)-

+ vr(t)+

v(t)

RLC J
K

WK
EJ F

vr (t ) + vl (t ) + v (t ) = e(t )

vr (t ) = Ri (t )

vl (t ) = L

di (t )
= Li ' (t )
dt

i ((t ) = Cv' (t )

W i(t)vl(t)vr(t)EJ F
EJ F

LCv ' ' ( t ) + RCv ' ( t ) + v ( t ) = e ( t )

RLCEJ F

WRLC K

--

J F

L(v(t))=V(s)L(e(t))=E(s)KE

J L(v"(t))=s2V(s)L(v'(t))=sV(s)

EJ F

LCs 2V ( s ) + RCsV ( s ) + V ( s ) = E ( s )

EJ F

[ LCs 2 + RCs + 1]V ( s ) = E ( s )

W
EJ F

G ( s) =

1
V ( s)
=
E ( s ) LCs 2 + RCs + 1

K
sK

EJ F

2
0

y" ( t ) + 2

02

y ' (t ) + y (t ) = Gx (t )

Wx(t)

Wy(t)

WG
W0

WEJ F

K1y(t)

--

Gx(t)
2

02

02

y'(t)

y"(t)

EJ F

Y (S )
G( s) =
=
1
X ( s)

G
2

02

s +2

02

=
s +1

G 02
s 2 + 2 0 s + 02

2
0

WE

y" ( t ) + 2

y ( 0) = y 0 ;
x (t ) = E

02

y ' (t ) + y (t ) = Gx (t )

y ' ( 0) = y ' 0

Ky'0y0

EJ F

EJ F

s 2 + 2s + 02 = 0

sEJ F

W>0

r1,2 = 2 2
0

y (t ) = GE + Ae r1t + Be r2t
--

KJ
W0Z

r1 = r2 =

W
y (t ) = GE + ( A + Bt )e t

J
W<0

W
r1,2 = j 2 2
0

y (t ) = GE + Ae t sin( d t + )

W
Damped FrequencyW d = 2 2 K
0

= cos 1

KJ

W=0W

r1,2 = j0

y (t ) = GE A cos 0 t
--

(No

Damping)

Oscillation)

(Sustained

KJ

BA

K(y(0), y('0))

--

>0
y(0)=0),
'(0) 0

1
2 J
3

G
E

Z0

y(0)=0),

--

(t)

<0
y(0)=0),
y'(0)=0

Z0

y(0)=0),
y'(0)=0

(t)

--

EJ FRLC

EJ FRLC

EJ F

1
C
R
2
L

0 =

M EJ F
KB(Damper)K
F
B
x

J
F(t)

EJ F

F =F (t ) FK

FB = M

d 2 x (t )
dt 2

FK=Kx(t)WFK K
FB = B

dx (t )
WFB K
dt

EJ F

d 2 x (t )
dt

+B

--

dx (t )
+ Kx(t ) = F (t )
dt

1
LC

EJ F

M
B
1
x ' ' (t ) + x ' (t ) + x (t ) = F (t )
K
K
K

EJ F

RLCEJ F

EJ FKEJ F

y" ( t ) + 2

02

y ' (t ) + y (t ) = Gx (t )

1 B
0 =
2M

(Noninteracting

Two

Capacity

System)

KJ

W K
1h1' (t ) + h1(t ) = R1qi (t )

--

(t)

qi

1 = R1 A1
2 = R2 A2

()

()

q
()
R

q
o(t)

2(t)

J
W K
h1 (t ) = R1q1 (t )

h1' (t ) = R1 q1' (t )

W K
2 h2' (t ) + h2 (t ) = R2 q1 (t )

q1' (t ) =

] q1 (t) = R1 [ 2 h2' (t) + h2 (t)]

q1' (t )

q1(t)

1
2 h2" (t ) + h2' (t )
R2

1 2h2" (t ) + ( 1 + 2 )h2' (t ) + h2 (t ) = R1 R2 qi (t )

WJ

--

+
(t)
-

()

1 2v " (t ) + ( 1 + 2 )v ' (t ) + v (t ) = e(t )

1 = R1C1

2 = R2 C 2

--

10KRC
K20F

J RC
0.083 10F

RL
K

2m
(t)

10 y ' (t ) + y (t ) = 2 x (t )
y ( 0) = 0

5K
)
-

v(t

1 0
x (t ) =
0 t < 0

y(t)

R=25KJ
C=40FL=4mH

--

1000.04HRLC
4F

K

K

1=2=300 seconds
R2=100 seconds/m2

y" ( t ) + 2 y ' ( t ) + 2 y ( t ) = 2 x ( t )

J
C2=0.8FC1=0.1 FR2=300R1=100

M=25KgJ
B=42N-secondK=1450N/m

--


]<gj]<]<j<^]<]

W
W

- -

K
K

KKK

( Open Lop Control Systems)

KJ

KK

K(Set Point)

(timers)

- -

KEKKK F
K

WK

- -

(Closed Loop Control Systems)

(Feedback

Control

Systems)

KJ

r(t

(t)

Feedback
Signal

p(t) e(t)K

K
K

W(Forward Path)

W(Feedback Path)

c(t)(Variable to be Controlled)

- -

Wr(t)(Reference

Input)

(Set Point)

Wb(t)(Feedback

Signal)

KWe(t)(Error

Signal)

K
E F
K(Comparator)

Wp(t)(Control

Signal)

Td Ta

K Ta Td

KK

Two Position Controller

W
W

- -

P(ON)
K(OFF)
W

EJ F

P e > 0
p (t ) =
0 e < 0

(t)

(t)

(ON)
K(OFF)

- -

(chattering)

e=EJ

e(t) e=+Ee(t)

p(t

e(t

J
J

-E

+E

e(t)

J
p

- -

Proportional Controller

EJ F

p ( t ) = K p e( t )

EJ F KP

KKP

p(t)

e(t)

Meq

- -

p(t)

e(t)

EJ F

P( s) = K p E ( s)

EJ F

Gc ( s) =

P( s )
= Kp
E ( s)

R2
R1
+
e(t)
-

+
p(t)
-

- -

R
Kp = 2
R2

Integral Controller

EJ F

p (t ) = K I e( )d
0

KKI

J
p

P( s) = K I

EJ F

E
s

W
EJ F

Gc ( s) =

P( s ) K I
=
E ( s)
s

- -

J
C

R
+

-(t)

-(t)

Gc ( s) =

KI
1
=
s
RCs

K(Cycling)

Derivative Controller

EJ F

p (t ) = K D

de(t )
dt

KKD

J
p

J

- -

EJ F

P ( s ) = K D sE ( s )

EJ F

Gc ( s) =

P( s )
=K Ds
E ( s)

+
e(t)
-

+
p(t)
-

G c ( s ) = K D s = RCs

- -

PI Controller

EJ F

p (t ) = K P e(t ) + K I e( )d
0

Kp

p
1

Ki

Sum

P( s) = K P E ( s) + K I

E ( s)
s

EJ F

W
EJ F

Gc ( s) =

K
P( s )
= K P+ I
E ( s)
s

- -

R
R

C
(t)

(t)

R
1
KP = 2 ; KI =
R1
RC

PD Controller

EJ F

p ( t ) = K P e( t ) + K D

- -

de(t )
dt

e(t

d/dt

EJ F

P ( s ) = K P E ( s ) + K D sE ( s )

EJ F

Gc ( s) =

P( s)
= K P+ K D s
E ( s)

R2
R1

e(t)
C

R
R
R

R
p(t)

J
- -

R
K P = 2 ; K D = RC
R1

PID Controller

KEF

W
EJ F

p(t ) = K P e(t ) + K I e( )d + K D
0

de(t )
dt

K
P

e
(t)

(t)

K
I

d
dt

- -

EJ F

P( s) = K P E ( s) + K I

E ( s)
+ K D sE ( s )
s

W
EJ F

Gc ( s) =

K
P( s )
= K P+ + I + K D s
E ( s)
s

- -

R2
R1

Ci

e(t)

Ri

Cd

Rd

R
R

p(t)

K K

- -

F
E

F
E

J
R2=5K R1=10K
KP

KKP=-7R2R1=10K

C=1F

R=10K

KI

- -

C
R
+
p(t)
-

+
e(t)
-

J
KC=2F R=5K
KD

J
R2=40KR1=20KC=2F R=5K
KPKI

KP=2
KI=5s1

KD=4s

- -

]<gj]<]<j<^]<]

- -

- -

J
WJ

(Signal Conversion)

K(Control Valve)

Transducers J

K
4-20 mA

3-15 psi(Pneumatic Signal)

TTL

- -

J
Actuators J

Pneumatic Actuators

Electrical Actuators

Hydraulic Actuators

J J

K
F=(P1-P2)A

(Pa)W(P1-P2)

m2(Diaphragm Area)WA
(N)WF

K
- -

K
KAir Motors
WAir Motors

J K

KK

Electric Actuators

J J

KDC Motor Actuators

KAC Motor Actuators
W

J J J

Filed-Controlled DC Motor

- -

(armature winding)

Ifvf

(magnetic field flux)

Ia(armature flux)

(Torque)
K

IfT

Ia

Ia

If

If
J KIfvf

- -

vf

If

Armature-Controlled DC Motor

Ifvf

KJ

K
AC Electrical Actuators

J J J

K
(Asynchronous AC (Synchronous AC Motor)

KMotor)

- -

J J J

KK

J K

S
N

S
N

Pulse
Input

S1
Switch
Sequencer

DC
Voltage

S2

- -

Hydraulic Actuators

J J

(Linear Hydraulic Actuators)

K(Rotary Hydraulic Actuators)

KK
EJ J F(Single-Acting

Actuator)

(Piston)

K(Push Rod)
Operating MediumEF

A
A

Double Acting Actuator

with

EJ J FSingle

Rod

BA

KEForward or Reverse Motion)

Double Acting Actuator

with

Double Rod
EJ J F

- -

Rotary Hydraulic Actuator

J J J

KK

KMachine-Tool Control Systems

Fixed-Stroke Hydraulic MotorVariable Stroke Pump

K

- -

J
K

Pneumatic Control ValvesK

Valve Body

J
- -

Direct Action Valves

Reverse Action Valves

Control Valve Sizing J

??K

K1psi

Cv=5

K1psi

KJ

- -

J
Cv

0.3
3
14
35
55
108
174
400
725
1100

025
0.5
1
1.5
2
3
4
6
8
10

QG = 960C v

QL = Cv

P1 P2
GL

( P1 + P2 )( P1 P2 )
G R (T + 460)
W = 90C v

P1 P2
V1 + V2

W
W
W

Valve Flow CoefficientWCV

Gas Specific GravityWGR

Liquid Specific GravityWGL

(lb/hour)Steam Flow RateWW

(psi)Valve Inlet PressureWP1

(psi)Valve Outlet Pressure(psi) WP2

(ft3/hour at 14.7psia and 60F )Gas Flow RateWQG

(Gallon/min)Liquid Flow RateWQL

(Degree F)Gas TemperatureWT
- -

Steam Specific Volume at the Valve WV1

(ft3/lb) Inlet
Steam Specific Volume at the Valve WV2
(ft3/lb)Outlet
W

Safety

P1-P2=60psiQmax=320Galon/lminGL=0.92
QL=1.25QmaxFactor=0.25

QL = Cv

P1 P2
GL

Cv = QL

GL
P1 P2

J Cv=49.5
QLP1-P2

2 inches

K
K

- -

Safety

J
J

P1-P2=30psiQmax=640Galon/lminGL=0.92
QL=1.25QmaFactor=0.25

- -

EF

6
s2 + 9

EF

10
EF 1 EF 22
s+7
s5
s

EF 23 EF 10 EF 10 EFJ
s

(s + a) 2 + 2

EF

s+a

(s + a) 2 + 2

10s
2

s + 25

EF

5.2 s + 12
C ( s)
=
EF C ( s ) = 1 EFJ
R( s ) (0.1s + 1)(0.5s + 1)
R( s ) s ( s + 3)

C ( s)
s +1
=
J
R( s ) s 2 + 6s + 6

0.2v ' (t ) + v (t ) = e(t ) J

R = 8.3K J

0.2 10 6 i ' (t ) + i (t ) = 0.2e(t ) J

y (t ) = 2(1 e 10t ) EF G = 2 EF = 10 EFJ

= 1250 0 = 2500 J

R = 100 EF < 0 = 1250 0 = 2500 EFJ

9 10 4 h" (t ) + 600h (t ) + h (t ) = 100q(t ) J

= 1.414 0 = 1.414 EF G ( s ) =

2
s 2 + 2s + 2

EFJ

- -

G c ( s ) = 0.2 p(t ) = 0.2e(t 0 EF Kp = 0.2 EFJ

100
p(t ) = 100 e( )d
Gc ( s) =
s

Gc ( s) =

R2 = 70 K J

EF Ki = 100 EFJ

G c ( s ) = 0.01s p(t ) = 0.01e' (t ) EF Kd = 0.01 EFJ

2 s + 100
p(t ) = 0.01e' (t ) EF Kp = 2 , Ki = 100 EFJ
s

2inchesJ

- -

AC Motor

Actuator

Analog

Armature

Automation

Block Diagram

Bode Diagram

Cascade
Characteristic Equation
Characteristics

Chart Recorder

Closed Loop

Compensator

Control system

Control Valve

Controlled Variable

Controller

Critical Damping

Cutoff Frequency

Damping

DC Motor

Delay Time

Derivative
Derivative Controller
Design

- -

Digital

Disturbance

Dynamic

Error

Feedback

Feedback Path
Final Control Element
Flow Meter

Flow rate

Forward Path
Frequency Response
Gain
Gain
Frequency
Gain Margin

Crossover

Hydraulic

Input

Integral

Integral Controller

Lag Compensator

Laplace Transform

Lead Compensator

Level

Magnitude

Manual Control

Matrix

Motor

Open Loop

- -

Oscilloscope

Output

Over Damping

Overshoot

Parallel

Peak Time

Performance

Permanent Response
Phase Crossover Frequency
Phase Margin

Phase Shift

Pneumatic

polynomial

Potentiometer

Process
Programmable
Control
Proportional

Logic

Proportional Controller
Reference Input
Resonance Frequency
Response

Response Curve

Rise Time

Root

Sensor

Series

Set Point

- -

Settling Time

Signal Conditioning

Signal Conversion

Simulation

Specification

Stability

Stability Criteria

Step Input

Stepper Motor

Summing Junction

System

Tachometer

Take off Point

Time Constant
Time Domain Response
Transducer

Transfer Function

Transient response
Two Position Control
Underdamping

Unit step

Unity Feedback

- -

1. Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall,

2002
2. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall,
2002
3. Ogata, K. Modern control Engineering, Prentice Hall, 1997
4. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley,
1998
5.

- -

J J

J J

J J

J
J J

J J

J J

J J

J J

J J

J
J J

J J

J J

J J

J J

J J

J J

J J

J J
J J

J J

J J

J J

J J

J J

J J

J J

J J

J J

J J

J J

EF

GOTEVOT appreciates the financial support provided by BAE SYSTEMS