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Control System Engineering by Norman S. Nise1

.Antenna Azimuth P.£ N-m-s/rad.N3.GearM-turn potentiometer+V.Block Diagram.Desired.azimuth.anglemPotentiometer-»•KpotPreamplifierPower.amplifierMotor.and loadf^y^\^^^^V/J&+Potentiometer.^potSchematic Parameters.ParameterConHguration 1Configuration 2Configuration 3V.n.K10.10.—.100.100.8.0.02.0.01.0.5.0.5.25.250.250.1.110.1.—.150.150.5.0.05.0.01.1.1.50.250.250.5.310.1.—.100.100.5.0.05.0.01.1.1.50.250.250.5.3Configuration 2Configuration 3Kia.Rah.Di:Kh.K,m.N2.N3h.ttBlock D agram Parameters.ParameterConfiguration 1Kpot0.318K—Kv.a100.100.2.083Km.dmKg1.71.0.1Note: reader may fill in Configuration 2 and Configuration 3 columns after completing.the antenna control Case Study challenge problems in Chapters 2 and 10, respectively.GearsAzimuth.angle.,(.0.CONTROL SYSTEMS ENGINEERING.Sixth EditionNorman S. Nise.California State Polytechnic University, PomonaJohn Wiley & Sons, IncTo my wife, Ellen; sons, Benjamin and Alan; and daughter, Sharon,.and their familiesVice President & Publisher.Publisher.Senior Editorial Assistant.Associate Director of Marketing.Marketing Manager.Production Manager.Production Editor.Creative Director.Cover Designer.Cover Photo.Photo Department Manager.Photo Editor.Executive Media Editor.Associate Media Editor.Production Management ServicesDon Fowley.Daniel Sayre.Katie Singleton.Amy Scholz.Christopher Ruel.Dorothy Sinclair.Sandra Dumas.Harry Nolan.James O'Shea.Jim Stroup, Virginia Tech.Hilary Newman.Sheena Goldstein.Thomas Kulesa.Jennifer Mullin.Integra Software Services Inc.This book was typeset in 10/12 TimesRoman at Thomson and printed and bound by R. R. Donnelley.(Jefferson City). The cover was printed by R. R. Donnelley (Jefferson City)The paper in this book was manufactured by a mill whose forest management programs include sustained.yield-harvesting of its timberlands. Sustained yield harvesting principles ensure that the number of trees.cut each year does not exceed the amount of new growthThis book is printed on acid-free paper. @.On the cover: CHARLI, a 5-foot tall autonomous humanoid robot built by Dr. Dennis Hong and.his students at RoMeLa (Robotics and Mechanisms Laboratory) in the College of Engineering of.Virginia TechFounded in 1807, John Wiley & Sons, Inc. has been a valued source of knowledge and understanding for.more than 200 years, helping people around the world meet their needs and fulfill their aspirations. Our.company is built on a foundation of principles that include responsibility to the communities we serve and.where we live and work, in 2008, we launched a Corporate Citizenship initiative, a global effort to address.the environmental, social, economic, and ethical challenges we face in our business. Among the issues we.are addressing are carbon impact, paper specifications and procurement, ethical conduct within our.business and among our vendors, and community and charitable support. For more information, please.visit our website: www.wiley.com/go/citizenshipThe software programs available with this book have been included for their instructional value. They have.been tested with care but are not guaranteed for any particular purpose. The publisher and author do not.offer any warranties or restrictions, nor do they accept any liabilities with respect to the programsCopyright © 2011,2006,2003,1996 by John Wiley & Sons, Inc. All rights reservedNo part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by.any mea