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The control action is discontinuous in time. This is commonly called a digital, discrete-data or sampled-data feedback control system. A discretedata control system may incorporate a digital computer that improves the performance achievable by the system. , the control action is discontinuous in amplitude rather than in time. This type of discontinuous control system is commonly called an on-off or relay feedback control system. Both forms may be present in a system. In this text continuous control systems are considered in detail since they lend themselves readily to a basic understanding of feedback control systems.
23. Dorf, R. : Encyclopedia of Robotics,Wiley-Interscience, New York, 1988. 24. : ‘‘System Theory and Robotics,’’IEEE Control Systems , pp. 16^117, April 1987. Copyright © 2003 Marcel Dekker, Inc. The derivation of this model is based upon the fact that the dynamic system can be completely described by known differential equations (Chap. 2) or by experimental test data (Sec. 1). The ability to analyze the system and determine its performance depends on how well the characteristics can be expressed mathematically.
B. , McGraw-Hill, New York, 1992. Copyright © 2003 Marcel Dekker, Inc. Introduction 29 17. : ‘‘Regeneration Theory,’’ Bell Syst. Tech. , 1932. 18. , 1945. 19. Hall, A. : ‘‘Application of Circuit Theory to the Design of Servomechanisms,’’ J. , 1946. 20. : The Frequency Response of Automatic Control System,‘‘Trans. AIEE, vol. 65, pp. 539^1546, 1946. 21. Evans, W. : ‘‘Graphical Analysis of Control Systems,’’ Trans. AIEE , vol. 67, pt. II, pp. 547^1551, 1948. 22. : ‘‘Busy Robots Spur Productivity,’’ IEEE Spectrum , vol.
