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เนื้อหาย่อ : Contents 6.6 Steady-State Error Constants and System-Type Number 64 6.7 Introduction to Design and Compensation 268 6.8 Tunable PID Controllers 277 Review Examples 279 2101 3008 อแเลU หอ1330 40 Review Questions 286 Problems 287 7. THE ROOT LOCUS TECHNIQUE AND COMPENSATOR DESIGN USING ROOT LOCUS PLOTS 7.1 Introduction 297 7.2 The Root Locus Concept 298 7.3 Guidelines for Sketching Root Loci 307 7.4 Selected Illustrative Root Loci 318 7.5 Reshaping the Root Locus 326 7.6 Cascade Lead Compensation 336 7.7 Cascade Lag Compensation 342 7.8 Cascade Lag-Lead Compensation 345 7.9 Cascade PID Compensation 348 7.10 Minor-Loop Feedback Compensation 350 7.11 The Root Locus of Systems with Dead-Time 353 Review Examples 355 Review Questions 362 Problems 362 8. NYQUIST/BODE FREQUENCY RESPONSE PLOTS AND SYSTEM STABILITY 8.1 Introduction 372 8.2 Development of the Nyquist Stability Criterion 375 8.3 Selected Illustrative Nyquist Plots 381 8.4 Stability Margins 389 8.5 The Bode Plots 395 8.6 Stability Margins on the Bode Plots 411 8.7 Stability Analysis of Systems with Dead-Time 413 [2U U2YJAMA MBTZT 8.8 Frequency Response Measurements 417 Review Examples 422 Review Questions 426 Problems 427 9. PERFORMANCE SPECIFICATIONS ON SYSTEM FREQUENCY RESPONSE 9.1 Introduction 434 9.2 Performance Specifications in Frequency Domain 437 9.3 Frequency Response of a Standard Second-Order System 440 9.4 Constant-MCircles 448 9.5 The Nichols Chart 452