�a. Block diagram�representation of a system;�b. block diagram�representation�of an�interconnection�of subsystems

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�Laplace transform table

�Laplace �transform theorems

�Block diagram of a transfer function

�Voltage-current, voltage-charge, and impedance relationships for capacitors, resistors, and inductors� � V-I I-V V-q Z Y

�RLC network

�Block diagram �of series RLC electrical network

�Laplace-transformed�network

�a. Two-loop electrical�network;�b. transformed�two-loop �electrical�network;�c. block diagram

�Block diagram of the network of Figure 2.6

�Transformed�network ready�for nodal analysis

�Three-loop�electrical network

�Electric circuit for�Skill-Assessment�

�Force-velocity, force-displacement, and impedance translational relationships�for springs, viscous dampers, and mass

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V-I I-V V-q Z Y

�a. Mass, spring, and damper system; �b. block diagram

�a. Free-body diagram of mass, spring, and damper system;�b. transformed free-body diagram�

�a. Two-degrees-of-freedom translational�mechanical�system⁸;�b. block diagram�

�a. Forces on M₁ due only to motion of M₁�b. forces on M₁ due only to motion of M₂�c. all forces on M₁�

�a. Forces on M₂ due only to motion of M₂;�b. forces on M₂ due only to motion�of M₁;�c. all forces on M_2�

�Three-degrees-of-freedom�translational�mechanical system�

�Translational�mechanical system�for Skill-Assessment�

�Torque-angular velocity, torque-angular displacement, �and impedance�rotational relationships for springs, viscous dampers, and inertia

�a. Physical system; �b. schematic; c. block diagram

�a. Torques on J₁�due only to the�motion of J₁�b. torques on J₁�due only to the�motion of J₂�c. final free-body�diagram for J₁

a. Torques on J₂�due only to the�motion of J₂;�b. torques on J₂�due only to the�motion of J₁�c. final free-body�diagram for J₂

�Three-degrees-of-�freedom rotational�system

�Rotational mechanical system for Skill-Assessment�

�A gear system

�Transfer functions for a. angular displacement in lossless gears and b. torque in lossless gears

�a. Rotational�system driven�by gears;�b. equivalent �system at the �output after �reflection of input torque;�c. equivalent �system at the input�after reflection of�impedances

�a. Rotational mechanical system with gears;�b. system after reflection of torques and impedances to the output shaft;�c. block diagram�

�Gear train

�a. System using a gear train;�b. equivalent system at the input;�c. block diagram�

�Rotational mechanical system with gears for Skill-Assessment Exercise 2.10

�NASA flight�simulator�robot arm with�electromechanical�control system�components

© Debra Lex.

�DC motor:�a. schematic¹²;�b. block diagram

�Typical equivalent�mechanical loading on a motor�

�DC motor driving a rotational mechanical load�

�Torque-speed �curves with an armature �voltage, e_a,�as a parameter

�a. DC motor and load;�b. torque-speed curve;�c. block diagram

�Electromechanical system for�Skill-Assessment Exercise 2.11�

�Development of�series analog:�a. mechanical �system;�b. desired electrical�representation;�c. series analog;�d. parameters for�series analog

�Series analog �of mechanical system

�Development of�parallel analog:�a. mechanical �system;�b. desired �electrical�representation;�c. parallel analog;�d. parameters for�parallel analog

�Parallel analog of�mechanical system�of Figure 2.17(a)�

�a. Linear system;�b. nonlinear system

�Some physical�nonlinearities�

�Linearization �about a point A�