1. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.1 Two performance measures versus parameter p.

2. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.2 Test input signals: (a) step, (b) ramp, and (c) parabolic.

3. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

4. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.3 Open-loop control system.

5. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.4 Second-order closed-loop control system.

6. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.5 (a) Transient response of a second-order system (Equation 5.9) for a step input. (b) The transient response of a second-order system (Equation 5.9) for a step input as a function of ζ and ω n t. (Courtesy of Professor R. Jacquot, University of Wyoming.)

7. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.6 Response of a second-order system for an impulse function input.

8. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.7 Step response of a control system (Equation 5.9).

9. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.8 Percent overshoot and normalized peak time versus damping ratio ζ for a second-order system (Equation 5.8).

10. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

11. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.9 Normalized rise time, T r1, versus ζ for a second-order system.

12. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.10 The step response for ζ = 0.2 for ω n = 1 and ω n = 10.

13. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.11 The step response for ω n = 5 with ζ = 0.7 and ζ = 1.

14. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.12 An s-plane diagram of a third-order system.

15. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

16. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.13 (a) Percent overshoot as a function of ζ and ω n when a second-order transfer function contains a zero. Redrawn with permission from R. N. Clark, Introduction to Automatic Control Systems (New York: Wiley, 1962). (b) The response for the second-order transfer function with a zero for four values of the ratio a/ζω n : A = 5, B = 2, C = 1, and D = 0.5 when ζ = 0.45.

17. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

18. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.14 Single-loop feedback control system.

19. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.15 Specifications and root locations on the s-plane.

20. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.16 The poles and zeros on the s-plane for a third-order system.

21. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.17 Impulse response for various root locations in the s-plane. (The conjugate root is not shown.)

22. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.18 Closed-loop control system with unity feedback.

23. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

24. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.19 Block diagram of steering control system for a mobile robot.

25. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.20 Triangular wave response.

26. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.21 A nonunity feedback system.

27. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.22 A speed control system.

28. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.23 The speed control system of Figure 5.22 with K 1 = K 2.

29. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.24 A system with a feedback H(s).

30. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.25 The calculation of the integral squared error.

31. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.26 Single-loop feedback control system. (a) Signal-flow graph. (b) Block diagram model.

32. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.27 Three performance criteria for a second-order system.

33. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.28 A space telescope pointing control system. (a) Block diagram. (b) Signal-flow graph.

34. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.29 The performance indices of the telescope control system versus K 3.

35. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

36. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.30 Step responses of a normalized transfer function using optimum coefficients for (a) ISE, (b) IAE.

37. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.30 (continued) Step responses of a normalized transfer function using optimum coefficients for (c) ITAE. The response is for normalized time, ω n t.

38. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.31 The foreground camera, which may be either a film or video camera, is trained on the blue cyclorama stage. The electronic servocontrol installation permits the slaving, by means of electronic servodevices, of the two cameras. The background camera reaches into the miniature set with a periscope lens and instantaneously reproduces all movements of the foreground camera in the scale of the miniature. The video control installation allows the composite image to be monitored and recorded live. (Part (a) reprinted with permission from Electronic Design 24, 11, May 24, 1976. Copyright © Hayden Publishing Co., Inc., 1976.)

39. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.32 The closed-loop roots of a minimum ITAE system.

40. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

41. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.33 An upper-torso humanoid robot named Domo helps researchers investigate robot manipulation in unstructured environments. (Photo courtesy of Aaron Edsinger, MIT Humanoid Robotics Group.)

42. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.34 (a) The Hubble telescope pointing system, (b) reduced block diagram, (c) system design, and (d) system response to a unit step input command and a unit step disturbance input.

43. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.35 Control of the bank angle of an airplane using differential deflections of the ailerons.

44. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.36 Elements of the control system design process emphasized in the airplane attitude control example.

45. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.37 Bank angle control autopilot.

46. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.38 Step response comparison of third-order aircraft model versus second-order approximation.

47. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.39 Step response of the 3 rd -order aircraft model with K = 0.10, 0.16, and 0.20 showing that, as predicted, as K decreases percent overshoot decreases while the time-to-peak increases.

48. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

49. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.40 The impulse function.

50. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.41 (a) Response of a second-order system to a step input. (b) m-file script.

51. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.42 (a) Response of a second-order system to an impulse function input. (b) m-file script.

52. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.43 The Isim function.

53. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.44 (a) Transient response of the mobile robot steering control system to a ramp input. (b) m-file script.

54. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.45 (a) Step response comparison for an approximate transfer function versus the actual transfer function. (b) m-file script.

55. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

56. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.46 Control system model with a second-order model of the motor and load.

57. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.47 Response of the system to a unit step input, r(t) = 1, t > 0. (a) m-file script. (b) Response for K a = 30 and 60.

58. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

59. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.48 Response of the system to a unit step disturbance, T d (s) = 1/s. (a) m-file script. (b) Response for K a = 30 and 60.

60. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.49 The response of a feedback system to a ramp input with K = 1, 2, and 8 when G(s) = K/[s(s + 1)(s + 3)]. The steady-state error is reduced as K is increased, but the response becomes oscillatory at K = 8.

61. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.50 Block diagram for the Skills Check.

62. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 5.51 Feedback system with integral controller and derivative measurement.

63. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.2 Racing car speed control.

64. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.3 Levitated train control.

65. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.5 Feedback system with proportional controller G c (s) = K.

66. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.6 Block diagram with position and velocity feedback.

67. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.7 Blood-sugar level control.

68. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.11 Unity feedback system.

69. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.12 Speed control of a Ferris wheel.

70. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.14 Feedback system.

71. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.18 Feedback system with prefilter.

72. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E5.20 Nonunity closed-loop feedback control system with parameter K a.

73. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.1 Camera wobble control.

74. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.3 Laser beam control.

75. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.5 (a) The space telescope. (b) The space telescope pointing control system.

76. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.6 Robot path control.

77. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.7 (a) Astronaut Bruce McCandless II is shown a few meters away from the earth-orbiting space shuttle. He used a nitrogen-propelled hand-controlled device called the manned maneuvering unit. (Courtesy of National Aeronautics and Space Administration.) (b) Block diagram of controller.

78. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.8 Solar cell control.

79. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.9 A model of the antenna for the Telstar System at Andover, Maine. (Photo courtesy of Bell Telephone Laboratories, Inc.)

80. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.16 Feedback amplifier.

81. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.17 Heart pacemaker.

82. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.20 System with pregain, K 1.

83. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.21 Closed-loop system with parameters k and a.

84. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P5.22 Nonunity closed-loop feedback control system.

85. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.2 System with a variable zero.

86. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.3 System with a variable pole in the process.

87. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.4 Speed control.

88. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.5 System with control parameter α.

89. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.6 DC motor control.

90. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.7 Closed-loop system with unity feedback.

91. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP5.9 Feedback control system with a proportional plus integral controller.

92. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.1 Roll angle control.

93. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.2 Welding tip position control.

94. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.3 Active suspension system.

95. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.4 Control of a space satellite.

96. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.5 Deburring robot.

97. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.6 Position control robot.

98. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.7 (a) Three-dimensional cam and (b) x-axis control system.

99. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP5.8 Spray-paint robot.

100. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.3 A simple second-order system.

101. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.4 A negative feedback control system.

102. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.5 Feedback control system with controller and prefilter.

103. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.7 An aircraft autopilot block diagram.

104. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.8 A missile rate loop autopilot.

105. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.9 Nonunity feedback system.

106. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.10 Closed-loop system for m-file.

107. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CP5.11 A single loop unity feedback system. (a) Signal flow graph. (b) Block diagram.