`Control
`Systems
`
`Th i rd Ed ition
`
`BENJAMIN C. KUO
`Professor of Electrical Engineering
`University of Illinois at Urbana-Champaign
`
`PRENTICE-HALL, INC., Englewood Cliffs, New Jersey
`
`1
`
`Micro Motion 1035
`
`
`
`Library of Congress Cataloging in Publication Data
`
`Kuo, BENIAMlN C
`Automatic control systems.
`
`Includes index.
`l. Automatic control. 2. Control theory.
`I. Title.
`TJ213.K8354 1975
`ISBN 0-13-054973-8
`
`629.8'3
`
`74-26544
`
`© 1975 by Prentice-Hall, Inc.
`Englewood Cliffs, New Jersey
`
`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.
`
`10 9 8 7 6 5 4 3 2
`
`Printed in the United States of America
`
`PRENTICE-HALL INTERNATIONAL, INC., London
`PRENTICE-HALL OF AUSTRALIA, PTY. LTD., Sydney
`PRENTICE-HALL OF CANADA. LTD., Toronto
`PRENTICE-HALL OF INDIA PRIVATE LIMITED, New Delhi
`PRENTICE-HALL OF JAPAN, INC., Tokyo
`
`2
`
`
`
`14 I Introduction
`
`Chap. 1
`
`Input
`ret)
`
`+
`
`e(t) ~ Data
`hold
`Sampler
`'
`(filter)
`
`i
`
`I
`
`h(r)
`
`Controlled
`process
`
`c(t)
`
`Fig. 1-13. Block diagram of a sampled-data control system.
`
`system. The error signal e(t) is sampled by a sampling device, the sampler, and
`the output of the sampler is a sequence of pulses. The sampling rate of the sam(cid:173)
`pler mayor may not be uniform. There are many advantages of incorporating
`sampling in a control system, one of the most easily understood of these being
`that sampling provides time sharing of an expensive equipment among several
`control channels.
`Because digital computers provide many advantages in size and flexibility,
`computer control has become increasingly popular in recent years. Many air(cid:173)
`borne systems contain digital controllers that can pack several thousand discrete
`elements in a space no larger than the size of this book. Figure 1-14 shows the
`basic elements of a digital autopilot for a guided missile.
`
`M
`
`Digital
`coded
`input
`
`Digital
`
`computer - analog - Airframe
`
`Digital-to-
`
`converter
`
`Attitude
`of
`missile
`
`2.1
`
`~ Analog-to-
`
`digital
`converter
`
`I
`
`I-+--
`
`Sensors
`
`Fig. 1·14. Digital autopilot system for a guided missile.
`
`2.2 (
`
`3
`
`
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