Automatic
`
`Control
`
`Systems
`
`fifth edition
`
`Benjamin C. Kuo
`
`Professor of Electrical and Computer Engineering
`University of Illinois at Urbana-Champaign
`
` TSMC et al v. Zond IPR2014-00803 Page <1>>
` Zond Ex. 2012
`
`

`

`
`
`Library of ("migrant Cam-’(tgmg‘inqubi'ir-un'on Doro
`K110. BENJAMIN C. tdatci
`Automatic control systems.
`
`Inc-index bibliographical references and index.
`1. Automatic control.
`2. Control tthry,
`1_ Title.
`TJleK8354 1937
`629.8’3
`864?“?
`ISBN 0-13-054342-1
`
`Contents
`
`Editon'ai /production supervision
`and interior design: Elena Le Pera
`Cover: Original design by Benjamin C. Kuo, adapted by Karen Stephens
`Manufacturing buyer: Rhett Conklin
`
`@1987 by Prentice-Hall. Inc.
`A Division of Simon & Schuster
`
`Englewood Cliffs. New Jersey 07632
`
`All rights reserved. No part of this book may be
`reproduced. in any form or by any means,
`without permission in writing from the publisher.
`
`Printed in the United States of America
`
`1098T654
`
`PREFACE x
`
`‘l
`
`INTRODUCTION 1
`
`1.1
`1.2
`1.3
`
`1
`Control Systems
`What is Feedback and What Are Its Effects“?
`Types of Feedback Control Systems H
`
`6
`
`MATHEMATICAL FOUNDATION 16
`
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`

`

`Desired
`idle—speedwr
`
`(a) Typical
`1-5
`Figure
`idleaspeed response oi
`an
`open-loop system.
`(b) Typical
`idle-speed response of
`a
`closed-loop system.
`
`error detector, and the controller will operate on the dillerence and
`to adjust the throttle angle a to correct the error.
`Figure 1-5 illustrates a comparison of the typical performances
`and closed-loop idle~speed control systems. In Fig.
`open-loop system will drop and settle at a lower value after a load t
`in Fig. 1-503) the ideal speed of the closed-loop system is shown tr
`to the preset value after the application of TL.
`The idle-speed control system illustrated above is also an“
`system whose objective is to maintain the system output at some
`As another illustrative example of 'a closed~loop control syster
`the block diagram of the printwhee] control system of a word proce;
`typewriter. The printwheel, which typically has 96 or 100 characters
`to position the desired character in front of the hammer .for printir
`selection is done in the usual manner from a keyboard. Once a Ct
`keyboard is depressed. a command for the printwheel
`position to the next position is initiated. The microprocessor compl
`
`
`Power
`
`Microprocessor
`
`
`Kt‘yhotl rd
`
`controller
`amplifier
`
`Feedback
`
`
`Figure 1-6 Pnnlwheel control system.
`
`-
`
`Error
`
`transducer
`
`Speed
`
`TSMC et al v. Zond |PR2014-00803-
`Figure 1—4 Closed-loop idle-speed conirgmm 2012
`
`ge <1>>
`
`Figure 1-3 Elements of an open—loop control system.
`
`The elements of an open-loop control system can usually be divided into two
`parts: the controller and the controlled process, as shown by the block diagram in
`Fig. 1-3. An input signal or command :-
`is applied to the controller. whose output
`acts as the actuating signal
`it;
`the actuating signal then controls the controlled
`process so that the controlled variable c will perform according to some prescribed
`standards.
`
`In simple cases, the controller can be an amplifier. mechanical linkages. or
`other control means, depending on the nature of the system. In more sophisticated
`electronics control, the controller can be an electronic computer, such as a micro-
`processor.
`
`closed-Loop Control Systems {Feedback control
`Systems)
`
`is missing in the open-loop control system for more accurate and more
`What
`adaptive control is a link or feedback from the output to the input of the system. To
`obtain more accurate control,
`the controlled signal ('0) should be led back and
`compared with the reference input, and an actuating signal proportional to the
`difference of the input and the output must be sent through the system to correct
`the error. A system with one or more feedback paths such as that just described is
`called a closed-loop system.
`The block diagram of a closed-loop idle-speed control system is shown in Fig.
`1-4. The reference input to, sets the desired idling speed. Ordinarily, when the load
`torque is zero, the engine speed at idle should agree with the reference value (0,, and
`any difference between the actual Speed and the desired speed caused by any
`disturbance such as the load torque TL is sensed by the speed transducer and the
`
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` Zond Ex. 2012
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