1. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.1 Process to be controlled.

2. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.2 Open-loop control system (without feedback).

3. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.3 Closed-loop feedback control system (with feedback).

4. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.4 Closed-loop feedback system with external disturbances and measurement noise.

5. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.5 Multiloop feedback system with an inner loop and an outer loop.

6. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.6 Multivariable control system.

7. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.7 Watt’s flyball governor.

8. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

9. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Table 1.1 (continued) Selected Historical Developments of Control Systems

10. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.8 Water-level float regulator.

11. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.9 (a) Automobile steering control system. (b) The driver uses the difference between the actual and the desired direction of travel to generate a controlled adjustment of the steering wheel. (c) Typical direction - of - travel response.

12. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.10 A manual control system for regulating the level of fluid in a tank by adjusting the output valve. The operator views the level of fluid through a port in the side of the tank.

13. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.11 The Honda P 3 humanoid robot. P 3 walks, climbs stairs, and turns corners. Photo courtesy of American Honda Motor, Inc.

14. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop

15. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.12 A three-axis control system for inspecting individual semiconductor wafers with a highly sensitive camera.

16. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.13 Coordinated control system for a boiler - generator.

17. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.14 The Obrero robot is responsive to the properties of the object it holds and does not rely on vision as the main sensor but as a complement. Obrero is part of the Humanoid Robotics Group at the MIT Computer Science and Artificial Intelligence Laboratory.

18. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.15 A feedback control system model of the national income.

19. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.16 An unmanned aerial vehicle. (Used with permission. Credit: DARPA.)

20. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.17 The control system design process.

21. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.18 The key elements of mechatronics [64].

22. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.19 The hybrid fuel automobile can be viewed as a mechatronic system. (Used with permission of DOE/NREL. Credit: Warren Gretz.)

23. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.20 Efficient wind power generation in west Texas. (Used with permission of DOE/NREL. Credit: Lower Colorado River Authority.)

24. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.21 A rover using an embedded computer in the feedback loop. (Photo by R.H. Bishop.)

25. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.22 Future evolution of control systems and robotics.

26. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.23 Smart grids are distribution networks that measure and control usage.

27. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.24 (a) Open-loop (without feedback) control of the speed of a rotating disk.

28. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.25 (a) Closed-loop control of the speed of a rotating disk.

29. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.26 The blood glucose and insulin levels for a healthy person.

30. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.27 (a) Open-loop (without feedback) control.

31. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.28 Disk drive data density trends (Source: IBM).

32. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.29 (a) A disk drive ©1999 Quantum Corporation. All rights reserved.

33. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.29 (continued) (b) Diagram of a disk drive.

34. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.30 Closed-loop control system for disk drive.

35. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure 1.31 System with control device, actuator, and process.

36. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E1.3 Partial block diagram of an optical source.

37. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure E1.13 Inverted pendulum control.

38. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.2 Fluid-flow control.

39. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.3 Chemical composition control.

40. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.4 Nuclear reactor control.

41. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.5 A photocell is mounted in each tube. The light reaching each cell is the same in both only when the light source is exactly in the middle as shown.

42. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.6 Positive feedback.

43. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.9 Heart-rate control.

44. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.11 Water clock. (From Newton, Gould, and Kaiser, Analytical Design of Linear Feedback Controls. Wiley, New York, 1957, with permission.)

45. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.12 Automatic turning gear for windmills. (From Newton, Gould, and Kaiser, Analytical Design of Linear Feedback Controls. Wiley, New York, 1957, with permission.)

46. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.18 Pressure regulator.

47. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.20 A high-performance race car with an adjustable wing.

48. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.21 Two helicopters used to lift and move a large load.

49. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure P1.26 Microrover designed to explore an asteroid. (Photo courtesy of NASA.)

50. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP1.1 Microsurgery robotic manipulator. (Photo courtesy of NASA.)

51. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP1.3 Automated parallel parking of an automobile.

52. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP1.4 Extremely large optical telescope with deformable mirrors for atmosphere compensation.

53. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP1.5 The world’s tallest building in Dubai. (Photo courtesy of Alamy Images.)

54. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure AP1.6 A robotic vacuum cleaner communicates with the base station as it maneuvers around the room. (Photo courtesy of Alamy Images.)

55. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure CDP1.1 Machine tool with table.

56. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP1.4 Robot welder.

57. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP1.7 An artist illustration of a nanorobot interacting with human blood cells.

58. Copyright ©2011 by Pearson Education, Inc. All rights reserved. Modern Control Systems, Twelfth Edition Richard C. Dorf and Robert H. Bishop Figure DP1.8 Personal transportation vehicle. (Photo courtesy of newscom.com.)