1. Chapter 3: Modeling in the Time Domain 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 3 Modeling in the Time Domain

2. Chapter 3: Modeling in the Time Domain 2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.1 RL network

3. Chapter 3: Modeling in the Time Domain 3 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.2 RLC network

4. Chapter 3: Modeling in the Time Domain 4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.3 Graphic representation of state space and a state vector

5. Chapter 3: Modeling in the Time Domain 5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.4 Block diagram of a mass and damper

6. Chapter 3: Modeling in the Time Domain 6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.5 Electrical network for representation in state space

7. Chapter 3: Modeling in the Time Domain 7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.6 Electrical network for Example 3.2

8. Chapter 3: Modeling in the Time Domain 8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.7 Translational mechanical system

9. Chapter 3: Modeling in the Time Domain 9 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.8 Electric circuit for Skill-Assessment Exercise 3.1

10. Chapter 3: Modeling in the Time Domain 10 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.9 Translational mechanical system for Skill-Assessment Exercise 3.2

11. Chapter 3: Modeling in the Time Domain 11 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.10 a. Transfer function; b. equivalent block diagram showing phase- variables. Note: y(t) = c(t)

12. Chapter 3: Modeling in the Time Domain 12 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.11 Decomposing a transfer function

13. Chapter 3: Modeling in the Time Domain 13 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.12 a. Transfer function; b. decomposed transfer function; c. equivalent block diagram. Note: y(t) = c(t)

14. Chapter 3: Modeling in the Time Domain 14 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.13 Walking robots, such as Hannibal shown here, can be used to explore hostile environments and rough terrain, such as that found on other planets or inside volcanoes. © Bruce Frisch/S.S./Photo Researchers

15. Chapter 3: Modeling in the Time Domain 15 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.14 a. Simple pendulum; b. force components of Mg; c. free-body diagram

16. Chapter 3: Modeling in the Time Domain 16 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.15 Nonlinear translational mechanical system for Skill-Assessment Exercise 3.5

17. Chapter 3: Modeling in the Time Domain 17 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.16 Pharmaceutical drug-level concentrations in a human

18. Chapter 3: Modeling in the Time Domain 18 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure 3.17 Aquifer system model

19. Chapter 3: Modeling in the Time Domain 19 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.1

20. Chapter 3: Modeling in the Time Domain 20 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.2

21. Chapter 3: Modeling in the Time Domain 21 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.3

22. Chapter 3: Modeling in the Time Domain 22 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.4

23. Chapter 3: Modeling in the Time Domain 23 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.5

24. Chapter 3: Modeling in the Time Domain 24 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.6

25. Chapter 3: Modeling in the Time Domain 25 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.7

26. Chapter 3: Modeling in the Time Domain 26 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.8

27. Chapter 3: Modeling in the Time Domain 27 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.9

28. Chapter 3: Modeling in the Time Domain 28 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.10 Gyro system

29. Chapter 3: Modeling in the Time Domain 29 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.11 Missile

30. Chapter 3: Modeling in the Time Domain 30 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.12 Motor and load

31. Chapter 3: Modeling in the Time Domain 31 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.13 Nonlinear mechanical system

32. Chapter 3: Modeling in the Time Domain 32 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.14 a. Robot with television imaging system (©1992 IEEE); b. vector diagram showing concept behind image-based homing (©1992 IEEE); c. heading control system

33. Chapter 3: Modeling in the Time Domain 33 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.15 a. F4-E with canards (© 1992 AIAA); b. open-loop flight control system (© 1992 AIAA)

34. Chapter 3: Modeling in the Time Domain 34 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Figure P3.16 Robotic manipulator and target environment (©1997 IEEE)