]<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
h

- -

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

K

- -

Pneumatic

WF

KEHydraulic ControlWFEControl

qi

WJ

(Electronic Control)W

KJ K

- -

()

q
()

WJ

W
W(Analogue)
KJ

- -

(Digital)
KJ

W(Analogue Control Systems)

K

W(Digital Control Systems)

(Computer Control Systems)
K

W
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
K

K
Kh(t)qin

- -

K
KK
W

K
K

- -

W
DDC
DCS
SCADA
PLC
W

--

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

--

KW

Block Diagram

KEF
K

KJ

System

In

O
utput

put

J (take off point)

J (summing junctions)

Z=x
y

--

J J

(t)

qi
n(t)

h(t

System

--

J
J

EF

()

Er(t)F

Kh(t)

W
h(t

r(t
)

W(Subsystems)


--

KEF
W

()

()

Laplace Transforms

t K
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=
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

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

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

EJ F

s?W
K?

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

--

t = 0 1dt
t

r (t ) = 0 u( )d W
t

L( r (t )) =

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

W
EJ F

L( r (t )) =

1
s2

WTime Shift
EJ F

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 v
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

W
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 )

W
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

1
s

J
s

--

WRC J
C

+
ei
-

+
eo
-

Weoei

eo = RC eidt
0

Eo( s ) =

1
Ei ( s )
RC

W
Eo( s )
1
=
Ei ( s )
RCs

y(t

x(t
)

RCs

--

Systems Interconnection

K


Series Connection o

J
K

EJ F

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

()

G(s)

Y
X

()

G(s)

()

()

Parallel Connection o

J
K
X
G(s)

Y
()

()
X

Y
G(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)
C(

R(
G(

H(

W J
X

(s)

G(s)

(s)

G(s)

(s)

X
(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

--

Y
(s)

(s)

(s)

W J
X

(s)

G(s)

(s)

(s)

(s)
X
(s)

(s)

G(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)= 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 +
2

sin t
2

cos t

s
s + 2
2

EJ F

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

L( f ( at )) =

K
K

s
1
F( )
a
a

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

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

K
K

KEF

--

WRCJ

+ vR(t)+

e(t)

v(t)

Kx(t)F(t)MJ

F(t)
M

x(t)

TaTq(t)J
K

q(t)

T,C

T
a
R

tx(t) = J

--

tx(t) =

J
tx(t) = tJ
tx(t) = t J
tz(t)=et J
tz(t)=e t J
tx(t)=sint J
ty(t)=CostJ
tv(t)=eatCos t J
tw(t)=eatsint J

W
C(s)

R(
t)

{s

{s

t)
H

EJ F

--

C(

R(s)

C(s)
E(s)
s+

s+

--

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

W
W
K

K
K

K
K

--

K
K
First Order Systems
RC
J
K
R

+ vr(t) +

e(t)

v(t)

RC J

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) =

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

K
K

Ks

--

EJ F

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

Wx(t)

Wy(t)

WG

WEJ F

Ky(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()=y

--

yss
y(t

J
y=

Output Steady State Value
J

EFt

EJ F

y ss = lim y (t )
t

Time Constant

EJ 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)=y(t)
y ss = 2 x
G=

y ss
=2
x

K
--

E=y= G=WEJ 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

--

y(t)
t

J
KRA

q
(t)

h(t)

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

W
--

Wqi(t) K

Wqs(t) K
E V (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 )
+ h(t ) = Rqi (t )
AR
dt

EJ F

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

= AR

EJ FRCEJ F

CA
K

--

Second Order Systems

LRC K

+ vl(t)-

+ vr(t)+

e(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))=sV(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)
=
2
E ( s ) LCs + RCs + 1

K
sK

EJ F

2
0

y" ( t ) + 2

02

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

W
Wx(t)
Wy(t)

WG
W

W
WEJ F

Ky(t)

--

Gx(t)
2

02

02

y'(t)

y"(t)

EJ F

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

02

s2 + 2

02

=
s +1

G 02
s 2 + 2 0 s + 02

WE

y" ( t ) + 2

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

02

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

y ' ( 0) = y ' 0

Ky'y

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)

(Sustained

Oscillation)

KJ

BA

K(y(), y('))

--

>0
y()=),

G
E

Z0

y()=),

--

(t)

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

y()=),

(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)

W
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 2

+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

2
0

y" ( t ) + 2

02

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

1 B
0 =
2M

(Noninteracting

Two

Capacity

System)

KJ

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

--

qi
(t)
R

1 = R1 A1
2 = R2 A2

q
q
R

o(t)

(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 ) =

1
2 h2" (t ) + h2' (t )
R2
q1' (t )

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

2

q(t)

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

--

KRC
KF

J RC
{ F

RL
K

e
(t)

+
-

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

v(t
)
-

1 0
x (t ) =
0 t < 0

y(t)

R=KJ
C=FL=mH

--

{HRLC
K

K
K

K
J

== seconds
R= seconds/m

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

J
C={FC={ FR=R=

M=KgJ
B=N-secondK=N/m

--

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

W
W

- -

K
K

KKK

( Open Lop Control Systems)

KJ

KK

K(Set Point)

(timers)

- -

K
K
K

KEKKK F
K

WK

K
K

- -

(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

- -

e(t)

p(t)
K

EJ F

P( s) = K p E ( s)

EJ F

Gc ( s) =

P( s )
= Kp
E ( s)

J
K

R2
R1
+
e(t)
-

+
p(t)
-

- -

R
Kp = 2
R2

Integral Controller

EJ F

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

KKI

J
p

EJ F

P( s) = K I

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

- -

EJ F

P ( s ) = K D sE ( s )

EJ F

Gc ( s) =

P( s)
=K Ds
E ( s)

J
K

+
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

EJ F

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

E ( s)
s

W
EJ F

Gc ( s) =

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

- -

J
K

R
R

(t)

(t)

R
1
KP = 2 ; KI =
R1
RC

PD Controller

W
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

Ri
e(t)

R
R

p(t)

Cd

Rd

W
K

K K
K

- -

F
E

F
E

J
R=K R=K
KP

KKP= RR=K

C=F

R=K

KI

- -

C
R
+
p(t)
-

+
e(t)
-

J
KC=F R=K
KD

J
R=KR=KC=F R=K
KPKI

KP=
KI=s

KD=s

- -

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

- -

- -

J
WJ

(Signal Conversion)

K(Control Valve)
Transducers J

K
mA

psi(Pneumatic Signal)
TTL

- -

J
Actuators J

Pneumatic Actuators

Electrical Actuators

Hydraulic Actuators

J J

K
F=(P-P)A

(Pa)W(P-P)

m(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

W
Filed-Controlled DC Motor

- -

(armature winding)

K
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

K
KK

J K

S
N

S
N

Pulse
Input

S
Switch
Sequencer

DC
Voltage

- -

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

Kpsi

Cv=
Kpsi

KJ

- -

J
Cv

{

{

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 PressureWP

(psi)Valve Outlet Pressure(psi) WP

(ft/hour at {psia and F )Gas Flow RateWQG

(Gallon/min)Liquid Flow RateWQL

(Degree F)Gas TemperatureWT
- -

Steam Specific Volume at the Valve WV

(ft/lb) Inlet
Steam Specific Volume at the Valve WV
(ft/lb)Outlet
W

Safety

P-P=psiQmax=Galon/lminGL={
QL={QmaxFactor={

QL = Cv

P1 P2
GL

Cv = QL

GL
P1 P2

J Cv={QLP-P

inches

K
K

- -

Safety

P-P=psiQmax=Galon/lminGL={
QL={QmaFactor={

- -

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 +

EF
2

s+a
(s + a) 2 + 2

10s
s 2 + 25

EF

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

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

s + 2s + 2

EFJ

- -

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

R2 = 70 K J

Gc ( s) =

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

EF Ki = 100 EFJ

Gc ( s) =

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

inchesJ

- -

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

- -

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

. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall,

. Ogata, K. Modern control Engineering, Prentice Hall,
. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley,
.

- -

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