| Preface |
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1 Introductory Control Concepts |
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1 | (52) |
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1 | (2) |
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2 | (1) |
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Closed loop control system (feedback control system) |
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2 | (1) |
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3 | (7) |
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10 | (3) |
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10 | (1) |
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11 | (2) |
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1.4 Mathematical Modelling of Translational/Rotational Mechanical System |
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13 | (5) |
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18 | (4) |
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Force-voltage (f-v) analogy |
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18 | (2) |
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Procedure to construct analogous electrical system using f-v analogy |
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20 | (1) |
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Procedure to construct analogous electrical system using f-i analogy |
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21 | (1) |
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1.6 Gear Train and its Electrical Analog |
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22 | (4) |
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Electrical analog of gear train |
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24 | (2) |
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26 | (6) |
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Transfer function model of system |
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27 | (2) |
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29 | (1) |
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30 | (1) |
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Transfer function of a system with multi inputs and multi outputs |
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30 | (2) |
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1.8 Classification of Systems |
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32 | (21) |
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Linear and non-linear systems |
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32 | (1) |
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Time varying and time invariant systems |
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32 | (1) |
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Continuous and discrete systems |
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33 | (1) |
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Deterministic and stochastic systems |
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33 | (1) |
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System with memory and without memory |
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33 | (1) |
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33 | (1) |
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34 | (7) |
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41 | (2) |
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Multiple Choice Questions |
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43 | (7) |
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Answers and Hints to Multiple Choice Questions |
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50 | (3) |
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2 Control System Analysis in Time Domain |
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53 | (62) |
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53 | (1) |
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2.2 Standard Test Signals |
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54 | (1) |
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55 | (5) |
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Unit step response of first order system |
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55 | (2) |
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Unit ramp response of first order system |
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57 | (1) |
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Unit impulse response of first order system |
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58 | (1) |
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59 | (1) |
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60 | (12) |
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Unit step response of a general second order control system |
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60 | (2) |
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Transient response specifications |
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62 | (3) |
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The characteristic equation roots and corresponding time response |
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65 | (5) |
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Unit impulse response of a general second order system |
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70 | (2) |
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2.5 Steady State Performance of Linear Control System |
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72 | (6) |
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73 | (1) |
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Steady state error due to step input |
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74 | (1) |
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Steady state error due to ramp input (velocity input) |
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75 | (1) |
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Steady state error due to parabolic input (acceleration input) |
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76 | (2) |
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Drawbacks of approach based on error constant evaluation |
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78 | (1) |
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78 | (1) |
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79 | (2) |
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Technique to cast away insignificant poles |
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80 | (1) |
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2.8 Effect of Adding Poles and Zeros to Transfer Functions |
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81 | (34) |
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Addition of a zero to closed loop transfer function |
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81 | (1) |
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Addition of a zero to open loop transfer function |
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82 | (1) |
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Addition of a pole to open loop transfer function |
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82 | (1) |
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Addition of pole to closed loop transfer function |
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83 | (1) |
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84 | (11) |
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95 | (2) |
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Multiple Choice Questions |
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97 | (13) |
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Answers and Hints to Multiple Choice Questions |
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110 | (5) |
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3 Block Diagrams and Signal Flow Graph |
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115 | (48) |
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115 | (4) |
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Block diagram development |
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116 | (1) |
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117 | (2) |
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119 | (44) |
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120 | (3) |
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Construction of signal flow graph from block diagram |
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123 | (1) |
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Construction of signal flow graph for electrical network |
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123 | (1) |
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124 | (1) |
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125 | (23) |
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148 | (6) |
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Multiple Choice Questions |
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154 | (6) |
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Answers and Hints to Multiple Choice Questions |
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160 | (3) |
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163 | (43) |
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163 | (3) |
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163 | (1) |
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Impulse response stability |
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163 | (1) |
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Bounded input bounded output (BIBO) stability |
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164 | (2) |
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4.2 Coefficient Test for Stability |
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166 | (1) |
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4.3 Routh's Stability Test |
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167 | (2) |
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4.4 Left Column Zero of Array |
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169 | (2) |
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4.5 Premature Termination of Array |
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171 | (4) |
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4.6 Relative Stability Analysis |
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175 | (1) |
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4.7 Routh's Stability Test in Control System Analysis |
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176 | (30) |
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177 | (17) |
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194 | (3) |
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Multiple Choice Questions |
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197 | (5) |
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Answers and Hints to Multiple Choice Questions |
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202 | (4) |
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206 | (72) |
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206 | (2) |
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5.2 Root Locus for Feedback Systems |
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208 | (5) |
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Graphical evaluation of angle and magnitude of G(s) H(s) |
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210 | (3) |
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5.3 Root Locus Construction |
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213 | (15) |
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226 | (2) |
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5.4 Root Loci for Systems with Other Forms |
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228 | (2) |
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5.5 Root Loci for Systems with Positive Feedback |
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230 | (4) |
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5.6 Root Locus of a G(s) H(s) Product with Pole-zero Cancellation |
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234 | (1) |
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5.7 Effects of Adding Poles and Zeros to the Product G(s) H(s) on Shape of Root Locus |
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235 | (2) |
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235 | (1) |
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236 | (1) |
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5.8 Effects of Delay on Root Locus |
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237 | (2) |
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5.9 Root Contours (Multiple Parameter Variations) |
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239 | (39) |
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241 | (24) |
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265 | (3) |
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Multiple choice questions |
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268 | (7) |
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Answers and hints to multiple choice questions |
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275 | (3) |
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6 Frequency response analysis |
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278 | (161) |
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278 | (1) |
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Strengths of frequency response approach |
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278 | (1) |
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Weakness of frequency response approach |
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279 | (1) |
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279 | (3) |
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Steady state sinusoidal responses |
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279 | (2) |
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Graphical evaluation of frequency responses |
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281 | (1) |
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6.3 Correlation between time response and frequency response |
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282 | (5) |
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Frequency response specifications |
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283 | (4) |
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6.4 Graphical representation of frequency response |
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287 | (18) |
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287 | (1) |
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287 | (15) |
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Effects of addition of poles and zeros to G(s) on the shape of polar plots |
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302 | (1) |
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Addition of poles at origin |
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302 | (2) |
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Addition of finite non-origin poles |
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304 | (1) |
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Addition of zeros at origin |
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305 | (1) |
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6.5 The Nyquist stability criterion |
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305 | (22) |
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306 | (4) |
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Nyquist stability criterion |
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310 | (2) |
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Nyquist procedure for minimum phase system |
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312 | (1) |
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Relative stability using nyquist procedure |
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313 | (2) |
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The measure of relative stability: Gain margin and phase margin |
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315 | (6) |
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Generating complete nyquist plot and interpretting stability |
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321 | (1) |
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Generating complete nyquist plots and interpretting stability |
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321 | (6) |
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327 | (28) |
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The product terms of G(iΩ) H(iΩ) |
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327 | (1) |
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Poles and zeros at origin of s plane |
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328 | (3) |
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331 | (5) |
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Complex conjugate poles or zeros |
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336 | (1) |
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Sketching magnitude (dB) plot |
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336 | (1) |
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337 | (2) |
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Gain margin and phase margin from bode plot |
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339 | (2) |
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Relationship between bode magnitude (dB) plot and number type of a system |
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341 | (1) |
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Evaluation of Kp from bode plot |
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341 | (1) |
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Evaluation of Kv from Bode plot |
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342 | (1) |
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Evaluation of Ka from Bode plot |
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343 | (6) |
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Irrational transmittances |
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349 | (1) |
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349 | (1) |
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Effect of variation in gain K on Bode plot |
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350 | (1) |
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Effect of presence of delay in system on Bode plot |
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351 | (1) |
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Finding transfer function models |
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352 | (2) |
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Imaginary axis zeros and poles |
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354 | (1) |
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6.7 Closed Loop Frequency Response of Unity Feedback System |
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355 | (84) |
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Constant magnitude loci (M circles) |
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357 | (7) |
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364 | (42) |
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406 | (5) |
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Multiple Choice Questions |
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411 | (20) |
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Answers and Hints to Multiple Choice Questions |
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431 | (8) |
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7 State Space Analysis and Design |
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439 | (93) |
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439 | (1) |
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7.2 State Space Representation |
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440 | (19) |
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440 | (1) |
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440 | (1) |
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440 | (5) |
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Phase variable form of state model |
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445 | (2) |
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Dual phase variable form of state model |
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447 | (1) |
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State model for systems with single input and multiple outputs |
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448 | (1) |
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State model for systems with multiple inputs and single output |
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449 | (2) |
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State model for systems with multiple inputs and multiple outputs |
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451 | (1) |
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451 | (4) |
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State space model using canonical variables |
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455 | (4) |
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7.3 Modelling Electrical and Mechanical Systems |
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459 | (2) |
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7.4 Finding Transfer Function from State Space Model |
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461 | (3) |
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7.5 Finding Time Response from State Model |
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464 | (4) |
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464 | (1) |
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465 | (1) |
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466 | (1) |
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467 | (1) |
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7.6 Controllability and Observability |
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468 | (8) |
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Test of state controllability for diagonal systems |
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469 | (3) |
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Test of output controllability |
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472 | (1) |
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Test of observability for diagonal systems |
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472 | (1) |
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Causes of uncontrollability and/or unobservability |
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473 | (2) |
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475 | (1) |
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7.7 Finding Decoupled State Equations (Diagonalisation) |
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476 | (5) |
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7.8 State Feedback and Pole Placement |
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481 | (3) |
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484 | (48) |
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488 | (29) |
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517 | (5) |
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Multiple Choice Questions |
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522 | (6) |
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Answers and Hints to Multiple Choice Questions |
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528 | (4) |
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532 | (104) |
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532 | (1) |
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8.2 Controller Configurations |
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532 | (2) |
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8.3 Industrial Automatic Controllers |
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534 | (9) |
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Two position/on-off control |
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534 | (1) |
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535 | (1) |
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536 | (1) |
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Proportional plus Integral control (PI) |
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537 | (2) |
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Proportional plus Derivative control (PD) |
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539 | (2) |
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Proportional plus Integral plus Derivative control (PID) |
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541 | (2) |
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8.4 Generating Hardware for Industrial Controllers |
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543 | (3) |
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543 | (2) |
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545 | (1) |
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545 | (1) |
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8.5 The Compensator Elements |
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546 | (11) |
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546 | (5) |
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551 | (4) |
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555 | (2) |
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557 | (20) |
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Cascade compensator design for improving steady state performance |
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559 | (1) |
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559 | (2) |
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561 | (3) |
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Cascade compensator design for improving transient response |
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564 | (1) |
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565 | (3) |
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568 | (3) |
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571 | (3) |
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Lag-lead compensator design |
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574 | (3) |
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8.7 Frequency Response Design |
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577 | (13) |
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578 | (4) |
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582 | (4) |
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Phase lag-lead compensator design |
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586 | (4) |
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8.8 Rate Feedback Compensator Design |
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590 | (46) |
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Minor loop feedback compensation |
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593 | (3) |
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596 | (30) |
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626 | (3) |
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Multiple Choice Questions |
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629 | (5) |
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Answers and Hints to Multiple Choice Questions |
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634 | (2) |
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9 Control System Components |
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636 | (63) |
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636 | (1) |
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637 | (6) |
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Potentiometer performance indices |
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641 | (1) |
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Merits and demerits of potentiometer |
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642 | (1) |
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642 | (1) |
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643 | (4) |
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Synchro construction and operation |
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643 | (1) |
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643 | (1) |
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Synchro control transformer (CT) |
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644 | (3) |
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647 | (10) |
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647 | (1) |
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Armature controlled DC servo motor |
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647 | (4) |
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Field controlled DC servo motor |
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651 | (2) |
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Comparing armature controlled and field controlled DC servo motors |
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653 | (1) |
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653 | (4) |
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657 | (2) |
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657 | (1) |
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658 | (1) |
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659 | (4) |
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660 | (3) |
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663 | (10) |
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673 | (3) |
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673 | (2) |
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675 | (1) |
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9.9 Mechanical Arrangements to Convert Rotational Motion into Corresponding Linear Motion |
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676 | (1) |
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9.10 Belt or Chain Drive and Lever System |
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677 | (22) |
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678 | (12) |
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690 | (4) |
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Multiple Choice Questions |
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694 | (4) |
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Answers and Hints to Multiple Choice Questions |
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698 | (1) |
| Index |
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699 | |
