Figure 10 1 Types of compensation a Cascade

Figure 10. 2 Pole–zero diagram of the phase-lead network. Modern Control Systems, Eleventh Edition

Figure 10. 3 Bode diagram of the phase-lead network. Modern Control Systems, Eleventh Edition

Figure 10. 4 Phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and

Figure 10. 5 Maximum phase angle Φm versus α for a phase-lead network. Modern

Figure 10. 6 Phase-lag network. Modern Control Systems, Eleventh Edition Richard C. Dorf and

Figure 10. 7 Pole–zero diagram of the phase-lag network. Modern Control Systems, Eleventh Edition

Figure 10. 8 Bode diagram of the phase-lag network. Modern Control Systems, Eleventh Edition

Figure 10. 9 Bode diagram for Example 10. 1. Modern Control Systems, Eleventh Edition

Figure 10. 10 (a) Bode diagram for Example 10. 2. (b) Nichols diagram for

Figure 10. 11 Compensation on the s-plane using a phase-lead network. Modern Control Systems,

Figure 10. 12 Phase-lead design for Example 10. 3. Modern Control Systems, Eleventh Edition

Figure 10. 13 (a) Design of a phase-lead network on the s-plane for Example

Figure 10. 14 Single-loop feedback control system. Modern Control Systems, Eleventh Edition Richard C.

Figure 10. 15 The s-plane design of an integration compensator. Modern Control Systems, Eleventh

Figure 10. 16 Root locus of the uncompensated system of Example 10. 6. Modern

Figure 10. 17 Root locus of the compensated system of Example 10. 6. Note

Figure 10. 18 Design of a phase-lag compensator on the s-plane. Modern Control Systems,

Figure 10. 19 (a) Design of a phase-lag network on the Bode diagram for

Figure 10. 20 Design of a phase-lag network on the Bode diagram for Example

Figure 10. 21 An RC lead-lag network. Modern Control Systems, Eleventh Edition Richard C.

Figure 10. 22 Control system with a prefilter Gp(s). Modern Control Systems, Eleventh Edition

Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright ©

Figure 10. 23 The deadbeat response. A is the magnitude of the step input.

Figure 10. 24 (a) Rotor winder control system. (b) Block diagram. Modern Control Systems,

Figure 10. 25 Root locus for lead compensator. Modern Control Systems, Eleventh Edition Richard

Figure 10. 26 (a) Step response and (b) ramp response for rotor winder system.

Figure 10. 27 Model of the pen plotter control system. Modern Control Systems, Eleventh

Figure 10. 28 Root locus for the pen plotter, showing the roots with a

Figure 10. 29 A depiction of the milling machine. Modern Control Systems, Eleventh Edition

Figure 10. 30 A simplified block diagram of the milling machine feedback system. Modern

Figure 10. 31 Elements of the control system design process emphasized in this milling

Figure 10. 32 Hypothetical impulse response of the milling machine. Modern Control Systems, Eleventh

Figure 10. 33 Root locus for the uncompensated system. Modern Control Systems, Eleventh Edition

Figure 10. 34 Step response for the compensated system. Modern Control Systems, Eleventh Edition

Figure 10. 35 (a) Transient response for simple gain controller. (b) m-file script. Modern

Figure 10. 36 (a) Bode diagram. (b) m-file script. Modern Control Systems, Eleventh Edition

Figure 10. 36 (continued) (a) Bode diagram. (b) m-file script. Modern Control Systems, Eleventh

Figure 10. 37 Lead compensator: (a) compensated Bode diagram, (b) m-file script. Modern Control

Figure 10. 38 Lead compensator: (a) step response, (b) m-file script. Modern Control Systems,

Figure 10. 39 Lag compensator: (a) uncompensated root locus, (b) m-file script. Modern Control

Figure 10. 40 Lag compensator: (a) compensated root locus, (b) m-file script. Modern Control

Figure 10. 41 Lag compensator: (a) step response, (b) m-file response. Modern Control Systems,

Figure 10. 42 Disk drive control system with PD controller (second-order model). Modern Control

Figure E 10. 7 Retrieval of a satellite. Modern Control Systems, Eleventh Edition Richard

Figure E 10. 9 Design of a controller. Modern Control Systems, Eleventh Edition Richard

Figure E 10. 10 Design of a PI controller. Modern Control Systems, Eleventh Edition

Figure E 10. 18 Nonunity feedback system with a prefilter. Modern Control Systems, Eleventh

Figure E 10. 20 Unity feedback system with PD controller. Modern Control Systems, Eleventh

Figure E 10. 21 Closed-loop feedback system with a disturbance input. Modern Control Systems,

Figure P 10. 1 Attitude control system for a lunar excursion module. Modern Control

Figure P 10. 3 Aircraft attitude control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 4 Nuclear reactor rod control. Modern Control Systems, Eleventh Edition Richard

Figure P 10. 5 Stabilized rate table. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 7 Nuclear reactor control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 8 Chemical reactor control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 9 Path-controlled turret lathe. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 10 (a) The Avemar ferry built for ferry service between Barcelona

Figure P 10. 14 Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert

Figure P 10. 16 Robot control. Modern Control Systems, Eleventh Edition Richard C. Dorf

Figure P 10. 17 Speed control of an automobile. Modern Control Systems, Eleventh Edition

Figure P 10. 19 (a) Conceptual diagram of a remote manipulator on the moon

Figure P 10. 20 Remotely controlled robot for nuclear plants Modern Control Systems, Eleventh

Figure P 10. 25 Robot position control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 26 Airgap control of train. Modern Control Systems, Eleventh Edition Richard

Figure P 10. 28 Controller design. Modern Control Systems, Eleventh Edition Richard C. Dorf

Figure P 10. 31 Steering control for vehicle. Modern Control Systems, Eleventh Edition Richard

Figure P 10. 33 Flexible arm control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 34 Extender robot control. Modern Control Systems, Eleventh Edition Richard C.

Figure P 10. 35 Magnetically levitated train control. Modern Control Systems, Eleventh Edition Richard

Figure P 10. 36 Unity feedback system with a time delay and PI controller.

Figure P 10. 45 Unity feedback system with proportional controller and measurement noise. Modern

Figure AP 10. 1 Pick-and-place robot. Modern Control Systems, Eleventh Edition Richard C. Dorf

Figure AP 10. 4 Motor control system. Modern Control Systems, Eleventh Edition Richard C.

Figure AP 10. 5 Unity feedback with a prefilter. Modern Control Systems, Eleventh Edition

Figure AP 10. 8 (a) Manutec robot. (b) Block diagram. Modern Control Systems, Eleventh

Figure AP 10. 10 Op-amp lead circuit. Modern Control Systems, Eleventh Edition Richard C.

Figure DP 10. 1 Two robots cooperate to insert a shaft. Modern Control Systems,

Figure DP 10. 2 (a) Bi-wing aircraft. (Source: The illustrated London News, October 9,

Figure DP 10. 3 Mast flight system. Modern Control Systems, Eleventh Edition Richard C.

Figure DP 10. 4 A robot and vision system. Modern Control Systems, Eleventh Edition

Figure DP 10. 5 High-speed train feedback control system. Modern Control Systems, Eleventh Edition

Figure DP 10. 6 Antenna position control. Modern Control Systems, Eleventh Edition Richard C.

Figure DP 10. 8 Engine control system. Modern Control Systems, Eleventh Edition Richard C.

Figure DP 10. 9 Roll-angle control of a jet airplane. Modern Control Systems, Eleventh

Figure DP 10. 10 a) Radiometric windmill. (b) Control system. Modern Control Systems, Eleventh

Figure DP 10. 11 Feedback control system with a time-delay. Modern Control Systems, Eleventh

Figure DP 10. 12 Bode plot loop shaping requirements. Modern Control Systems, Eleventh Edition

Figure CP 10. 1 A feedback control system with compensation. Modern Control Systems, Eleventh

Figure CP 10. 2 Single-loop feedback system with proportional controller. Modern Control Systems, Eleventh

Figure CP 10. 4 An aircraft pitch rate feedback control system. Modern Control Systems,

Figure CP 10. 6 A unity feedback control system. Modern Control Systems, Eleventh Edition

Figure CP 10. 7 A lateral beam guidance system inner loop. Modern Control Systems,

Figure CP 10. 10 Feedback control system with a time delay. Modern Control Systems,

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Figure 10. 1 Types of compensation. (a) Cascade compensation. (b) Feedback compensation. (c) Output, or load, compensation. (d) Input compensation. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 2 Pole–zero diagram of the phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 3 Bode diagram of the phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 4 Phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 5 Maximum phase angle Φm versus α for a phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 6 Phase-lag network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 7 Pole–zero diagram of the phase-lag network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 8 Bode diagram of the phase-lag network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 9 Bode diagram for Example 10. 1. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 10 (a) Bode diagram for Example 10. 2. (b) Nichols diagram for Example 10. 2. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 11 Compensation on the s-plane using a phase-lead network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 12 Phase-lead design for Example 10. 3. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 13 (a) Design of a phase-lead network on the s-plane for Example 10. 4. (b) Step response of the compensated system of Example 10. 4. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 14 Single-loop feedback control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 15 The s-plane design of an integration compensator. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 16 Root locus of the uncompensated system of Example 10. 6. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 17 Root locus of the compensated system of Example 10. 6. Note that the actual root will differ from the desired root by a slight amount. The vertical portion of the locus leaves the σ axis at σ = -0. 95. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 18 Design of a phase-lag compensator on the s-plane. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 19 (a) Design of a phase-lag network on the Bode diagram for Example 10. 8. (b) Time response to a step input for the uncompensated system (solid line) and the compensated system (dashed line) of Example 10. 8. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 20 Design of a phase-lag network on the Bode diagram for Example 10. 9. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 21 An RC lead-lag network. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 22 Control system with a prefilter Gp(s). Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 23 The deadbeat response. A is the magnitude of the step input. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 24 (a) Rotor winder control system. (b) Block diagram. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 25 Root locus for lead compensator. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 26 (a) Step response and (b) ramp response for rotor winder system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 27 Model of the pen plotter control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 28 Root locus for the pen plotter, showing the roots with a damping ratio of s = -4. 9 ± j 4. 9. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop . The dominant roots are Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 29 A depiction of the milling machine. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 30 A simplified block diagram of the milling machine feedback system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 31 Elements of the control system design process emphasized in this milling machine control system design example. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 32 Hypothetical impulse response of the milling machine. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 33 Root locus for the uncompensated system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 34 Step response for the compensated system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 35 (a) Transient response for simple gain controller. (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 36 (a) Bode diagram. (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 36 (continued) (a) Bode diagram. (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 37 Lead compensator: (a) compensated Bode diagram, (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 38 Lead compensator: (a) step response, (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 39 Lag compensator: (a) uncompensated root locus, (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 40 Lag compensator: (a) compensated root locus, (b) m-file script. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 41 Lag compensator: (a) step response, (b) m-file response. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure 10. 42 Disk drive control system with PD controller (second-order model). Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 7 Retrieval of a satellite. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 9 Design of a controller. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 10 Design of a PI controller. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 18 Nonunity feedback system with a prefilter. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 20 Unity feedback system with PD controller. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure E 10. 21 Closed-loop feedback system with a disturbance input. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 1 Attitude control system for a lunar excursion module. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 3 Aircraft attitude control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 4 Nuclear reactor rod control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 5 Stabilized rate table. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 7 Nuclear reactor control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 8 Chemical reactor control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 9 Path-controlled turret lathe. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 10 (a) The Avemar ferry built for ferry service between Barcelona and the Balearic Islands. (b) A block diagram of the lift control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 16 Robot control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 17 Speed control of an automobile. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 19 (a) Conceptual diagram of a remote manipulator on the moon controlled by a person on the Earth. (b) Feedback diagram of the remote manipulator control system with Ƭ = transmission time delay of the video signal. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 20 Remotely controlled robot for nuclear plants Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 25 Robot position control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 26 Airgap control of train. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 28 Controller design. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 31 Steering control for vehicle. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 33 Flexible arm control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 34 Extender robot control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 35 Magnetically levitated train control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 36 Unity feedback system with a time delay and PI controller. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure P 10. 45 Unity feedback system with proportional controller and measurement noise. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure AP 10. 1 Pick-and-place robot. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure AP 10. 4 Motor control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure AP 10. 5 Unity feedback with a prefilter. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure AP 10. 8 (a) Manutec robot. (b) Block diagram. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure AP 10. 10 Op-amp lead circuit. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 1 Two robots cooperate to insert a shaft. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 2 (a) Bi-wing aircraft. (Source: The illustrated London News, October 9, 1920. ) (b) Control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 3 Mast flight system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 4 A robot and vision system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 5 High-speed train feedback control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 6 Antenna position control. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 8 Engine control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 9 Roll-angle control of a jet airplane. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 10 a) Radiometric windmill. (b) Control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 11 Feedback control system with a time-delay. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure DP 10. 12 Bode plot loop shaping requirements. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 1 A feedback control system with compensation. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 2 Single-loop feedback system with proportional controller. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 4 An aircraft pitch rate feedback control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 6 A unity feedback control system. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 7 A lateral beam guidance system inner loop. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.

Figure CP 10. 10 Feedback control system with a time delay. Modern Control Systems, Eleventh Edition Richard C. Dorf and Robert H. Bishop Copyright © 2008 by Pearson Education, Inc. Upper Saddle River, New Jersey 07458 All rights reserved.