�Closed-loop poles�and response:�a. stable system;�b. unstable system

Common cause�of problems in �finding closed-loop poles:�a. original system;�b. equivalent �system

�Equivalent closed-loop�transfer function

�Initial layout for Routh table

�Completed Routh table

�a. Feedback �system b. equivalent�closed-loop �system

�Completed Routh table

�Completed Routh table

�Determining signs in first column of a Routh table with zero as first element in a row

�Routh table

�Routh table

�Root positions�to generate even�polynomials:�A , B, C,�or any combination

�Routh table

�Routh table

�Feedback control�system

Routh table

�Alternative Routh table

�Feedback�control system�

�Routh table

�Jason is an�underwater, remote-controlled vehicle that has been used to explore the wreckage of the Lusitania. The�manipulator and�camera comprise�some of the vehicle’s�control systems.

Courtesy of Woods Hole Oceanographic Institution.

�Feedback control�system

�The FANUC Robot M- 400 can be�configured for 4- or 5-axis of motion. It is seen here �moving and �stacking boxes.

Courtesy of Fanuc Robotics.

�Routh table

�Routh table for�Example with K = 1386

�Routh table

�Routh table

�Routh table for antenna control�case study

�Routh table for UFSS case study

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�Closed-loop system�with pole plot

�Aircraft pitch loop�model

�Block diagram of a�chemical process-control�system

�a. Soft Arm �used for�feeding;�b. simplified�block�diagram

Courtesy of Kazuhiko Kawamura, Vanderbilt University.

�Towed vehicle roll control

�Cutting force control�system

© 1997 ASME.

�a. A magnetic�levitation�transportation system;�b. simplified block�diagram (©1998 IEEE)

© Japan Air Lines/ Photo Researchers.