Control System Design Guide: Using Your Computer to Understand and Diagnose Feedback ControllersControl System Design Guide, 3E will help engineers to apply control theory to practical systems using their PC. This book provides an intuitive approach to controls, avoiding unnecessary mathematics and emphasizing key concepts with more than a dozen control system models. Whether readers are just starting to use controllers or have years of experience, this book will help them improve their machines and processes.

Contents
Modeling  219 
Motion Control  273 
Active Analog Implementation of Controller Elements  413 
European Symbols for Block Diagrams  419 
The RungeKutta Method  423 
Development of the Bilinear Transformation  429 
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Common terms and phrases
acceleration actual allows analog applications assumed bandwidth behavior block Bode plot calculate cause Chapter command compared compensator components constant control law control system damping delay derivative difference differential discussed disturbance response drive effect electrical encoders Equation equivalent error estimated example Experiment feedforward feedback filter force frequency gain higher improve increases inertia input integral less limited load loop lowpass lter lower machine magnetic margin measured mechanical method motion motor noise notch Note numerator observer operation output overshoot path peaking performance phase lag PI controller plant position power converter problem produce proportional raised reduce requires resolution resolver resonance ripple sample saturation scaling sensor shown in Figure shows signal similar simple speed stability step Table term torque transfer function tuning usually variation velocity voltage zero
Popular passages
Page 40  PI controller output is the sum of two signals, one proportional to the error and the other proportional to the integral of the error. The integral cancels longterm error, but it also injects phase lag.