1. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-1 (p. 433) Controlled process.

2. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-2 (p. 436) Various controller configura- tions in control-system compensation. (a) Series or cascade compensation. (b) Feedback compensation. (c) State-feedback control. (d) Series-feedback compensation (two degrees of freedom). (e) Forward compensation with series compensation (two degrees of freedom). (f) Feed/forward compensation (two degrees of freedom).

3. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-3 (p. 439) Control system with PD controller.

4. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-4 (p. 439) Op-amp circuit realization of the PD controller.

5. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-5 (p. 440) Waveforms of y(t), e(t), and de(t)/dt, showing the effect of derivative control. (a) Unit-step response. (b) Error signal. (c) Time rate of change of the error signal.

6. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-6 (p. 443) Bode diagram of

7. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-7 (p. 445) Root loci of Eq. (10-16).

8. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-8 (p. 446) Root contours of Eq. (10-14) when K P = 0.25 and 1.0; K D varies.

9. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-9 (p. 446) Unit-step response of the attitude control system in Fig. 7-25 with and without PD controller.

10. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-10 (p. 447) K P -versus-K D parameter plane for the attitude control system with a PD controller.

11. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-11 (p. 448) Bode plot of G(s) =

12. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-12 (p. 450) Root contours of s 3 + 3408.3s 2 + (1,204,000 + 2.718 X 10 9 K D )s + 2.718 X 10 9 = 0.

13. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-13 (p. 452) Unit-step responses of the system in Example 10-2 with PD controller.

14. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-14 (p. 453) Bode diagram of G(s) of system in Example 10-2 with PD controller.

15. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-15 (p. 454) Control system with PI controller.

16. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-16 (p. 455) Op-amp-circuit realization of the PI controller. (G c (s) = (a) Two-op-amp circuit. (b) Three-op-amp circuit.

17. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-17 (p. 456) Pole-zero configuration of a PI controller.

18. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-18 (p. 457) Bode diagram of the PI controller. G c (s) = K P +

19. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-19 (p. 460) Root loci of Eq. (10-37)with K 1 /K P = 10; K P varies.

20. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-20 (p. 461) Unit-step responses of the system in Example 10-3 with PI control. Also, unit-step response of the system in Example 10-1 with PD controller.

21. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-21 (p. 462) Bode plots of control system in Example 10-3 with PI controller. G(s) =

22. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-22(a) (p. 465) (a) Root loci of control system in Example 10-4 with PI controller K 1 /K P = 2, 0  K P < .

23. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-22(b) (p. 466) (b) Bode plots of control system in Example 10-4 with PI control.

24. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-23 (p. 467) Unit-step response of system with PI controller in Example 10-4. G(s) =

25. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-24 (p. 470) Step responses of system in Example 10-5 with PD, PI, and PID controllers.

26. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-25 (p. 471) Bode plot of system in Example 10-5 with PD and PID controllers.

27. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-26 (p. 472) Op-amp circuit implementation of G(s) =

28. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-27 (p. 473) Pole-zero configuration of the phase-lead controller.

29. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-28 (p. 474) Bode plot of phase-lead controller G c (s) =

30. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-29 (p. 476) Block diagram of sun-seeker control systems.

31. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-30 (p. 477) Unit-step response of sun-seeker system in Example 10-6.

32. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-31 (p. 478) Root contours of the sun-seeker system with a = 0, and T varies from 0 to .

33. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-32 (p. 479) Root contours of the sun-seeker system with a phase-lead controller.

34. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-33 (p. 481) Bode diagram of phase-lead compensation and uncompensated system in Example 10-6, G(s) =

35. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-34 (p. 482) Plots of G(s) in the Nichols chart for the system in Example 10-6. G(s) =

36. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-35 (p. 485) Root contours of sun-seeker system in Example 10-7 with phase-lead controller G(s) =

37. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-36 (p. 486) Unit-step responses of sun-seeker system in Example 10-7 with phase- lead controller. G c (s) =

38. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-37 (p. 487) Bode plots of phase-lead controller and forward-path transfer function of sun-seeker system in Example 10-7. G c (s) =

39. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-38 (p. 490) Two-stage phase-lead (phase-lag) controller.

40. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-39 (p. 491) Bode plots of uncompensated and compensated sun-seeker systems in Example 10-7 with two-sate phase-lead controller. G P (s) =

41. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-40 (p. 493) Unit-step responses of sun-seeker system in Example 10-7 with two-stage phase-lead controller.

42. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-41 (p. 494) Sensitivity functions of sun-seeker system in Example 10-7.

43. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-42 (p. 495) Pole-zero configuration of phase-lag controller. G c (s) =

44. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-43 (p. 496) Design strategies for phase-lag control for type 0 and type 1 systems.

45. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-497 (p. 497) Root loci of uncompensated and phase-lag-compensated systems.

46. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-45 (p. 498) Bode diagram of the phase-lag controller. G c (s) =

47. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-46 (p. 500) Root loci of sun-seeker system in Example 10-9.

48. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-47 (p. 501) Unit-step responses of uncompensated and compensated sun-seeker systems with phase-lab controller in Example 10-9. G P (s) =

49. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-48 (p. 502) Root contours of sun-seeker system in Example 10-9 with phase-lag controller.

50. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-49 (p. 504) Bode plot of uncompensated and compensated systems with phase-lag controller in Example 10-9. G c (s) = G p (s) =

51. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-50 (p. 505) Root loci of uncompensated system in Example 10-10. G P (s) =

52. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-51 (p. 506) Sensitivity function of phase-lag-compensated system in Example 10-10.

53. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-52 (p. 508) Sun-seeker system in Example 10-11 with single-stage phase-lag controller, lead-lag controller, and two-stage phase-lead controller.

54. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-53 (p. 510) Pole-zero configuration and root loci of inexact cancellation.

55. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-54 (p. 511) Root loci showing the effects of inexact pole-zero cancellations.

56. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-55 (p. 512) Op-amp circuit realization of the second-order transfer function.

57. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-56 (p. 513) Bode plot of a notch controller with the transfer function. G(s) =

58. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-57 (p. 514) Block diagram of speed-control system in Example 10-12.

59. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-58 (p. 516) Unit-step responses of speed-control system in Example 10-12.

60. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-59 (p. 518) Bode plots of uncompensated speed- control system in Example 10-12 with notch controller and with notch-PI controller. G c (s) =

61. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-60 (p. 519) Unit-step responses of speed-control system in Example 10-13 with notch- PI controller. G c (s) =

62. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-61 (p. 521) (a) Forward compensation with series compensation. (b) Feedforward compensation with series compensations.

63. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-62 (p. 521) Control system with disturbance.

64. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-63 (p. 523) Unit-step responses of second-order sun-seeker system with phase-lag controller. G(s) =

65. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-64 (p. 524) Root loci of second-order sun-seeker system with phase-lag controller. G(s) =

66. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-65 (p. 525) Root loci of second-order sun-seeker system with robust controller. G(s) =

67. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-66 (p. 525) Second-order sun-seeker system with robust controller and forward controller.

68. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-66 (p. 526) Unit-step responses of second-order sun-seeker system with robust controller and forward controller.

69. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-68 (p. 526) Amplitude Bode plot of response due to noise of second-order sun-seeker system.

70. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-69 (p. 528) Root loci of third-order sun-seeker system with robust and forward controllers.

71. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-70 (p. 529) Root loci of position-control system in Example 10-16 with robust and forward controllers.

72. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-71 (p. 531) Control system with tachometer feedback.

73. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-72 (p. 532) (a) Sun-seeker control system with minor-loop control. (b) Op-amp circuit realization of

74. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-73 (p. 533) Root contours of Ts 3 + (25T + 1)s 2 + (25 + 2500K t + 2500T)s + 2500 = 0, K t = 0.02

75. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-74 (p. 534) Block diagram of control system with state feedback.

76. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-75 (p. 535) Control of a second-order system by state feedback.

77. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-76 (p. 537) (a) State diagram of magnetic-ball suspension system. (b) State diagram of magnetic-ball-suspension system with state feedback.

78. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-77 (p. 538) Output response of magnetic-ball suspension system with state beedback, subject to initial condition y(0) = x 1 (0) = 1.

79. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-78 (p. 539) (a) State diagram of second-order sun-seeker system. (b) State diagram of second-order sun-seeker system with state feedback.

80. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-79 (p. 540) Block diagram of control system with state feedback and integral output feedback.

81. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-80 (p. 542) Sun-seeker system with state feedback and integral control in Example 10-20.

82. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-81 (p. 544) DC motor control system with state feedback and integral control and disturbance torque in Example 10-21.

83. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-82 (p. 545) Time responses of dc-motor control system with state feedback and integral control and disturbance torque in Example 10-21.

84. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 20-83 (p. 546) The control system with unity feedback for Example 10-22.

85. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-84 (p. 547) Controller Design main window.

86. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-85 (p. 547) Controller Design main window showing the closed-loop transfer function.

87. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-86 (p. 548) (a) Root locus of Eq. (7-201); (b) G and H poles and zeros.

88. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-87 (p. 549) (a) Unit-step response of Eq. (7-201) for K = 1; (b) poles and zeros of (7-201) for K = 1.

89. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-88 (p. 550) (a) Using the Design Constraints option for Example 10-22. (b) Settling time < 0.005 and percent overshoot < 4.33.

90. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-89 (p. 551) The root-locus diagram for Example 10-22, after incorporating the percent overshoot and the settling time as design constraints.

91. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-90 (p. 552) Addition of a zero to the controller C(s) to create a PD controller.

92. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-91 (p. 553) The root-locus diagram for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772.

93. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-92 (p. 554) (a) The root-locus diagram, (b) the closed-loop poles for Example 10-22 after incorporating a zero in the PD controller at –1/0.001772 and using a gain of 181.

94. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-93 (p. 555) Step response of the system of Example 10-22 with a PD controller, C(s) = 181 (s + 1/0.001772).

95. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-94 (p. 555) The loop magnitude and phase diagrams in the frequency-domain SISO Design Tool for Example 10-22.

96. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-95 (p. 556) The loop magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.

97. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-96 (p. 556) The loop magnitude and phase diagrams and the root locus for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.

98. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-97 (p. 557) The closed-loop, unit-step, and magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/0.001772 and a gain of K = 181.2.

99. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-3 (p. 560)

100. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-6 (p. 561)

101. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-8 (p. 561)

102. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-12 (p. 562)

103. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-13 (p. 562)

104. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-15 (p. 563)

105. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-17 (p. 564)

106. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-18 (p. 564)

107. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-19 (p. 565)

108. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-25 (p. 567)

109. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-29 (p. 569)

110. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-30 (p. 570)

111. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-32 (p. 571)

112. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-33 (p. 571)

113. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-34 (p. 571)

114. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-35 (p. 572)

115. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-36 (p. 572)

116. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-37 (p. 572)

117. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-38 (p. 573)

118. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-40 (p. 574)

119. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-41 (p. 574)

120. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-42 (p. 575)

121. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-43 (p. 575)

122. Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-46 (p. 577)