SYSTEMS, OBJECTIVES, AND STRATEGIESIntroductionControl StrategiesGENERAL CHARACTERISTICS OF FEEDBACKModeling a Feedback LoopSensitivity of Closed-Loop Gain to Changes in ParametersDisturbance RejectionLinearization about an Operating PointMODELLING DYNAMIC SYSTEMSThe Modelling ApproachA First-Order Differential Equation ModelAn Alternative Description of System Behaviour: Frequency ResponseAn Integrator ModelA Second-Order Lag ModelHigher-Order ModelsTime DelaysSystem Analysis and System IdentiicationTHE FREQUENCY RESPONSE APPROACH TO CONTROL SYSTEM DESIGNClosing the LoopThe Nichols ChartStabilityIntegrating ActionThe Proportional + Integral ControllerA Design ExampleNon-Unity Feedback SystemsA Note of CautionTHE s-PLANE AND TRANSIENT RESPONSEThe Laplace Transform ApproachPoles and ZerosCalculating System ResponseStandard Models and the s-PlaneHigher-Order Systems and DominanceTHE ROOT-LOCUS TECHNIQUEFirst-and Second-Order Root LociAn Alternative ApproachSketching Simple Root LociRoot Locus in Analysis and DesignSTEADY-STATE PERFORMANCEAn Intuitive ApproachThe Transform ApproachCONTROLLERS AND COMPENSATORSThree-Term ControllersCompensatorsDisturbance RejectionDIGITAL CONTROL I: DISCRETE SYSTEM MODELSIntroductionSampling and DigitizationThe z-TransformTransfer Function ModelsThe Unit Sample Response SequenceDifference Equation ModelsThe z-PlaneTransient Response and the z-PlaneStability of Discrete Linear SystemsDIGITAL CONTROL II: SAMPLED DATA SYSTEMSThe Pulse Transfer FunctionThe Closed Loop Transfer FunctionRoot Locus in the z-PlaneVarying the Sampling RateSimulating Complete System ResponseThe Relationship between the s-Plane and z-PlaneDIGITAL CONTROL III: INTRODUCTION TO DIGITAL DESIGNThe Digital PID ControllerDigitizing other Continuous DesignsDiscretization in the Frequency DomainDirect Discrete DesignDesign ExampleCOMPUTERS AND CONTROLTools for System Modelling and DesignComputers in ControllerA Final Reminder: Know Your Plant!APPENDICESPolar PlotsThe Routh-Hurwitz CriterionFrequency Response of Discrete Linear SystemsAnswers to Numerical ProblemsFurther ReadingINDEX