Modern Control Theory

Third Edition

WILLIAM L. BROGAN, Ph.D.

Professor of Electrical Engineering University of Nevada at Las Vegas

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0 1991, 1985, 1974 by Prentice-Hall, Inc. A .Division of Simon & Schuster Englewood Cliffs, New Jersey 07632

All rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher.

Printed in the United States of America 10 9 8 7 6 5 4 3 2 1

ISBN

Cl-33-!i=iO435-3

Prentice-Hall International (UK) Limited, London Prentice-Hall of Australia Pty. Limited, Sydney Prentice-Hall Canada Inc., Toronto Prentice-Hall Hispanoamericana, !%A., Mexico Prentice-Hall of India Private Limited, New Delhi Prentice-Hall of Japan, Inc., To&y0 Simon & Schuster Asia Pte. Ltd., Singapore Editora Prentice-Hall do Brasil, Ltda., Rio de Janeiro Prentice-Hall, Inc., Englewood Cliffs, New Jersey

This book is dedicated to my parents Lloyd and Alice, and to my grandchildren Jesse and Jacque, representatives of the next generation.

Index

653

Zero order hold (ZOH), 36, 61, 71, 319, 321 Zero state equivalent, 409 Zero state response, 134, 311, 319, 420 Zero-like behavior of a matrix, 125, 126, 129

Z-transfer function, 9, 10, 60-62 state equations and, 80, 88, 94, 442, 484 Z-transforms , 9, 14, 27-29, 31, 34-36, 133,
286, 292, 319, 321, 338