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AAB Systems affords analytic design application approaches infinity BBB Systems Chapter characteristic equation chute mouth Class AAA Class AAA Systems Class AAB Systems Class ABC Class ABD Class BBD Systems classes of systems closed-loop transfer function constant Dashed Curve Data Pertinent decrease the value denominator of G(s desirable determine DOCTOR OF PHILOSOPHY Effect of Changes error Expression 6-3 feedback control system Figure and Curve forward gain high range inequality in Expression integral indices intermediate range large values low range normalized parameters numerator of G(s numerical values optimum system optimum values output Parameter Values performance index characteristics performance quality Pertinent to Class phase margin Plot polynomials position control system resulting s-plane set of numerical specified squared-error steady-state step-function input system parameters systems are possible Table 5-la thesis time-constant TjT2 transfer functions transient performance Type-1 Position Control University of Wisconsin Values of Gain variation yields zero