Feedback Control Theory for Engineers

acceleration feedback angular frequency angular position angular resonant frequency angular velocity Argand diagram armature asymptotic axis Bode diagram chapter circuit closed-loop frequency response compensated system complex number D-form d.c. motor damping Determine device differential equation driving function electrical electronic amplifier error constant error detector example exponential lags field winding frequency locus frequency response frictional torque given gyroscope H(jw H₁ H₂ handwheel Hence hydraulic Imaginary inertia inverse JD² K₁ K₂ Laplace transform load log-modulus characteristic loop M-circle magnitude mechanical method moment of inertia Nichols chart Nyquist diagram open-loop frequency open-loop transfer function output element phase angle phase margin phase-lag phase-lead network pneumatic potentiometer pressure proportional rad/s resistance rotation servomechanism shaft shown in Fig sine wave sinusoidal specification speed T₁ T₂ transient response type 1 system uncompensated V₁ valve vector velocity feedback velocity lag viscous frictional voltage zero