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BMFA 2413 Introduction To Control Systems

Lecturer Silah Hayati binti Kamsani Faculty of Manufacturing Engineering Department of Robotics and Automation Email: silah_hayati@utem.edu.my Phone: 063316401

Learning Outcomes
At the end of this course, students should be able to:
Identify basic control system theory such as transfer function, Laplace Transform, stability analysis, linear equation, time respond and others. Model linear and time invariant system using frequency domain and state space method. Model linear and time invariant system for mechanical and electromechanical systems by manipulating block diagrams and signal flow diagram. Apply commercially available mathematical software to solve control theory problems.

References
Text books:
Nise, S Norman, Control Systems Engineering, 5th Edition, John Wiley & Sons Inc., United State of America, 2008. Ogata, Katsuhiko, Modern Control Engineering, 4th Edition, Prentice Hall, 2002 Palm W. J, Control System Engineering, John Wiley, 2002 Bishop, Dorf, Modern Control Systems, 10th Edition, Prentice Hall, 2005. Ogata, Katsuhiko, MATLAB for Control Engineers, Prentice Hall, 2008.

Computer Usage:
MATLAB and Simulink Programming
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NO. 1

Course Evaluations
COURSE WORK Laboratory activities x 6 Laboratory work basis in maximum 2 persons/group with individual short lab report Project x 1 Group activities with maximum 4 persons/group To measure the students understanding and analysis on a problem-based task Test x 2 Test on students knowledge and understanding about the recent topic. Practical Assessment x 1 Hands-on test on students knowledge and understanding about the laboratory and practical activities. Assignment x 1 Critical review on any journal/article regarding control system (max. 2 persons/group) Final Exam Understanding, applications, problem solving and decision making. TOTAL

PERCENTAGE, % 10

15

20

10

40

100
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Syllabus and Teaching Plan


1.0 2.0 3.0 4.0 5.0 6.0 7.0 Introduction to Control System Modeling in the Frequency Domain Modeling in the Time Domain Reduction of Multiple Subsystems Time Response Stability Steady State Error

Introduction
Control systems are important and are present almost everywhere in our daily lives.

Examples of man-made control systems: CD player, radio antenna, rockets/missiles, robots, oven, room air condition.

Examples of God-created control systems : level of adrenalin in the human body, entry of light through the human eye, holding and carrying things using hand, human riding a bicycle.

Introduction
Generally, control system can be classified into three categories; nature control system created by God (example human body immunization, etc.) automatic / modern control system created by human (example auto pilot flight operation, satellite system, space shuttle, robotic system and etc.) combination between nature and automatic control system (example human driving of car)

Introduction
Why Control? Chemical plants are intended to be operated under known and specified conditions. There are several reasons why this is so: Safety: Formal safety and environmental constraints must not be violated.

Operability: Certain conditions are required by chemistry and physics for the desired reactions or other operations to take place. It must be possible for the plant to be arranged to achieve them.

Economic: Plants are expensive and intended to make money. Final products must meet market requirements of purity, otherwise they will be unsaleable. Conversely the manufacture of an excessively pure product will involve unnecessary cost.

What are the advantages of control system?


Advantages of control systems - 4 primary reasons: Power amplification Radar rotation. Remote control Robot for picking material in hazardous environment. Convenience of input form Any type of input mechanical, electrical, air etc. Compensation of disturbance - Measure the displacement of the antenna cause by wind and return the antenna to the position commanded by the input.

History of Control Systems


The earliest complete control systems are water clock invented and a double acting pump by al-Jazari, 1206.

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History of Control Systems


17th century Cornellis Drebbel using an alcohol and mercury for heat and temperature control for hatching eggs process. 18th century James Watt introduce the centrifugal governor for the speed control system of a steam engine. 1922 Minorsky applied an automatic controller for steering ships stability 1934 Hazen was introduced servomechanism for position control system Control system engineering are continuously develop in 20th century a -automatic control system, digital computer control and etc.
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History of Control Systems


a. Early elevators were controlled by hand ropes or an elevator operator. Here, a rope is cut to demonstrate the safety brake, an innovation in early elevators; Modern Duo-lift elevators make their way up the Grande Arche in Paris, driven by one motor, with each car counterbalancing the other. Today, elevators are fully automatic, using control systems to regulate position and velocity.

b.

Photos courtesy of United Technologies Otis Elevator.


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What is System A system might be considered as an assemblage of components that provide interactions.

Spring (K)

Viscous Damper (C)

x (t) Output M

f (t) Input

Mass spring damper system Disassembly system

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What is Control System A control system consists of subsystems and processes (or plants) assembled for the purpose of controlling the outputs Comput er processes. of the
System Othe r part of indus try Indus trial ne twork (hi gh level) Local PC Indus trial network (middl e level) Cent ral PLC cont rol ler

Visual & Sound Signals

Local PLC cont rol ler

Local Proc ess Cont rol System


Input Sensing Devices Output Load Devices

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What is Control Engineering Deals with systems that we normally encounter in our daily lives such as domestic appliances, transport, communication systems, manufacturing system, etc. All these systems are dynamic systems which exhibit certain variables of interest to the user which need to controlled.

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What are the areas of application of control engineering?


Examples of application: Home appliances: microwave, telephone, computer, VCD player, clock etc.. Industry: CNC machine tool, robot, conveyor, AGV etc.. Biological: Animals, plants, ants, human ..etc Social: Country, districts, society, etc.

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Definitions of Terms in Control Systems


Controlled variable the quantity/condition that is measured and controlled (normally controlled variable is the output of the system) Manipulated variable the quantity/condition that is varied by the controller so as affect the value of the controlled variable Plants a piece of equipment/set of a machine functioning together, which perform a particular operation Process progressively continuously operation that consists of a series of controlled action to achieve a particular result. Systems a combination of components that act together and perform a certain objective

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Definitions of Terms in Control Systems


Disturbance a signal that tends to adversely affect the value of the output of the system. There are two types of disturbance; internal disturbance generated within the system external disturbance generated outside the system and is an input Automatic control system a control system that is selfregulating without human intervention Process control system an automatic regulating system in which the output is a variable such as temperature, pressure, flow, liquid level or pH is called process control system

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System Representation
A Control System consists of subsystems and processes (or plants) that are interconnected to control the system output. For a system having one or more components, it is easier to represent the components or the subsystems using block diagrams where the signal transfer can be visualized clearly. Disturbance, n (t) 3 main characteristics of Block Diagrams: 1. 2. 3. Fundamental blocks Components/subsystems Signals
Input, u (t) System component Output, y (t)

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System Representation
Fundamental blocks
Represents components or subsystems such as controller, amplifier, etc. Each block may have one or more inputs which affects the output of the components. The input and output signals may have the same form or they may be changed into a different form depending on the function of the component or subsystem.

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System Representation
Components/subsystems
Summing junction

V1

+ V2

V=V1-V2

-allows 2 or more signals to be added/subtracted. The +, - sign indicates whether the signals are added or subtracted.
Take-off point -allows a signal to be taken from any components output. Assume that it does not load any components output (the signals are not changed).

V
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System Representation
Components/subsystems (others)
Controllers, plants Actuators Sensors Amplifiers

Signals in Control Systems


Input/reference [u(t),r(t), R(s)] represented by an arrow pointing into the block, can be manipulated or controlled Output [y(t), c(t), C(s)] represented by an arrow pointing away from the block, the needed signal Error [e(t)=r(t)-c(t)] Feedback Disturbances/noise is also an input signal that cannot be controlled
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System Representation
Noise 1 Input R(s) Noise 2

Input

Summer

Transducer -

Plant

Controller+
Error (E(s))

Plant

Output C(s)

Output Transducer
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Examples of system representation


A motorcycle can be considered as a system. The main input to the system is the throttle angle and the main output is the motorcycle speed. This system can be represented as follow:

Throttle angle, Throttle Engine

Engine speed, N Gear

Wheel speed, n Wheel

Fuel flow rate, q

Motorcycle speed, n

The arrows represent variable while the components are represented by blocks. Each block has an input and an output variable.

The output variables of a component can be the input variable for another component ! ! !

Control Systems Categories


This control function or the interference to the process is introduced by an organization of parts (including operators in manual control) that, when connected together is called the Control System. Depending on whether a human body (the operator) is physically involved in the control system, they are divided into Manual Control and Automatic Control. Due to its efficiency, accuracy and reliability, automatic control is widely used in chemical processed.

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Manual Control Systems


First start with a simple manual control system, to examine how control is introduced, how the control system is constructed and how it works. A diagram of the system is shown below.
To start the heating process the valve in the hot water line is opened. The operator can then determine the effectiveness of the control process by standing in the shower. If the water is too hot, the valve should be closed a little or even turned off. If the water is not hot enough then the valve is left open or opened wider. To begin with the shower is cold.

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Control Systems Functions


It can be seen that this control system, completed by the operator, possesses the following functions: Measurement This is essentially an estimate or appraisal of the process being controlled by the system. In this example, this is achieved by the right hand of the operator. Comparison This is an examination of the likeness of the measured values and the desired values. This is carried out in the brain of the operator.
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Control Systems Functions


Computation This is a calculated judgment that indicates how much the measured value and the desired values differ and what action and how much should be taken. In this example, the operator will calculate the difference between the desired temperature and the actual one. Accordingly the direction and amount of the adjustment of the valve are worked out and the order for this adjustment is sent to the left hand from the brain of the operator. If the outlet water temperature is lower, then the brain of the operator will tell the left hand to open the steam valve wider. If there is any disturbance, or variation of flow rate in water to the shower inlet, some adjustment must be made to keep the outlet water temperature at a desired value.

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Control Systems Functions


Correction This is ultimately the materialization of the order for the adjustment. The left hand of the operator takes the necessary actions following the order from brain. Therefore, for a control system to operate satisfactorily, it must have the abilities of measurement, comparison, computation and correction. Of course, the manual operation has obvious disadvantages e.g. the accuracy and the continuous involvement of operators. Although accuracy of the measurement could be improved by using an indicator, automatic control must be used to replace the operator. In industry, it is automatic control that is widely used.

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Automatic Control Systems


Based on the above process, we can easily set up an automatic control system as shown in the next figure.

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Automatic Control Systems


Firstly, we can use a temperature measurement device to measure the water temperature, which replaces the right hand of the operator. This addition to the system would have improved accuracy. Instead of manual valves, we use a special kind of valve, called a control valve, which is driven by compressed air or electricity. This will replace the left hand of the operator. We put a device called a controller, in this case a temperature controller, to replace the brain of the operator. This has the functions of comparison and computation and can give orders to the control valve. The signal and order connections between the measurement device, control valve and controller are transferred through cables and wires, which replace the nerve system in the operator.

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Control Systems Hardware


Examining the automatic control system, it is found that it contains the following hardware. Sensor - a piece of equipment to measure system variables. It serves as the signal source in automatic control. Controller - a piece of equipment to perform the functions of comparison and computation. Control Element - a piece of equipment to perform the control action or to exert direct influence on the process. This element receives signals from the controller and performs some type of operation on the process. Generally the control element is simply a control valve.
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Control Systems Principle


Associated with a control system are a number of different types of variables. First we have the Controlled Variable. This is the basic process value being regulated by the system. It is the one variable that we are specially interested in - the outlet water temperature in the example above. An important concept related to the controlled variable is the Setpoint. This is the predetermined desired value for the controlled variable. The objective of the control system is to regulate the controlled variable at its setpoint. To achieve the control objective there must be one or more variables we can alter or adjust. These are called the Manipulated Variables. In the above example this was the input hot water flow rate.

Conclusively, in the control system we adjust the manipulated variable to maintain the controlled variable at its setpoint. This meets the requirement of keeping the stability of the process and suppressing the influence of disturbances.

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Objective of Control System

What is the objective of control systems?

A control system provides an output or response for a given input or stimulus. It is designed such that the output variable equals to the desired variable. (Example: Air-Conditioning System desire temperature is 16C, so the output temperature of air-conditioner system should be 16C) A controlled variable normally determines the input and output of a control system.

Ex.: Elevator buttons and the desired level (Input), actual level of elevator (Output), elevator level -> controlled variable.
Control strategies are needed to achieve this objective. Basically there are two control strategies open loop control and closed loop control.
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Open Loop Control Systems


Open Loop Control Systems (OLCS): The output signal of an OLCS is not fed back to influence the control action.
Noise 1 Input R(s)

Noise 2

Input transducer

Controller

Plant

Output C(s)

The control action of an OLCS depends only on the input signal. OLCS are not capable of filtering disturbances/noise. Examples: toaster, washing machine, studying time, electric fan, traffic light, ceiling fan and oven.
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Open Loop Control Systems


Open loop control system a control system in which the control/regulating action is independent of the output (output has no effect on the control action) In other words; the output of open loop control system is not compared with the reference input Input transducer is functioning to converts the form of the input to that used by controller. The controller is functioning to drives the process/plant The input can be called reference/set point and the output can be called controlled variable Disturbances also called as input to the system and affect the output/controlled variable. Open loop controlled system cannot compensate the disturbance and do not correct for the disturbance signal . Example : Washing machine operated on time basis, does not measure the output signal (cleanliness of the clothes)
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Open Loop Control Systems


In general, any control systems that operated on a time basis is open loop control system Open loop control system is easier to build because system stability is not a major problem Advantages & Disadvantages of open loop control system; Advantages: simple construction easy maintenance no stability problem convenient when output is hard to measured & not economy to produced Disadvantages: the output may different from desired input if there is calibration error causes by disturbance/changes re-calibration is required from time to time to maintain the required output

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Example of oven open loop system


SWITCH 1 CONTROLLER

1~ 10000C 2~ 20000C 3~ 30000C

2 1 3 PROCESS

OVEN

Oven system

Example of oven open loop system


Switch Set point Controller Oven Temp (T) Current (i)

Open Loop System: The temperature of the oven is controlled by setting the switch to position 1, 2 and 3. The controller is designed such that for each setting different electrical current is supplied to the heating element which correspondingly generating the heat to the oven and set the temperature 1000C, 2000C and 3000C response. If the desired temperature by user is 2000C the user will set the switch to position 2. The performance of this system will depend on the accuracy of the controlled designed .

Closed Loop Control Systems


Noise

Input + R(s) transducer


Input

Summer

Noise 2

Controller+
Error (E(s))

Plant

Output C(s)

Output transducer
The output signal of a Closed Loop Control System (CLCS) is fed back to influence the control action and improve overall system performance. Example of open loop control system: traffic light, washing machines, toaster and oven with feedback.
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Closed Loop Control Systems


Closed loop control system control system in which the control/regulating action is influence by the output In other word; the output is fed back to the input reference for comparison The actuating error signal (differential between input and the output signal) is fed back to the controller to reduce the error and bring the output of the system to desired value Input transducer is functioning to converts the form of the input to that used by controller. Output transducer/sensor is functioning to measure the controlled variable/output response and convert into the form used by controller (example ; potentiometer, thermistor, tachometer, and etc.)
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Closed Loop Control Systems


At the 1st summing junction, the output and disturbance which fed back via feedback path is compared with the input reference where the output signal is subtracted from the input signal. The result called actuating signal/error. The controller will make correction and drive the plant/process if any error/actuating signal generated. If no error, plants response is already the desired response. Example : Room temperature control by measuring the actual room temperature and comparing it with reference temperature (desired temperature), the thermostat turns the heating/cooling equipment on/off in such way to ensure the room temperature at comfortable level.

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Feedback Control Systems


Feedback control systems are often referred to as closed loop control system. A system that maintains a prescribed relationship between output and input and using the difference by comparing them is called feedback control system . There are numerous example of closed loop/feedback control system and not limited to engineering but can be found in various non-engineering fields.

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Examples of oven closed loop system


Set point Operator Switch Controller Oven

Sensor

Manually

Closed Loop System:

Examples of oven closed loop system


The system described above can be improved by introducing an operator and a temperature sensor to the system. If the desired temperature is 2000C and the recorded value by the sensor is 2200C, the operator can adjust the position of the switch to no. 1. If the temperature falls to 1800C the operator can adjust the switch to no. 2. The temperature can be regulated to 2000C but may be oscillating and great effort is needed by the operator to maintain the temperature a\t the desired value. This system is known as closed loop system or feedback system. Two basic components which must be present in a closed loop system are sensor and actuator. If the operator is replaced by a mechanical or electric device the system is known as automatic feedback system.

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OLCS vs. CLCS


The differences between open and closed-loop system are shown in table below;
Open Loop System Does not have the feedback path. Low accuracy. Sensitive to noise, disturbances and changes in the environment. The system cannot compensate and correct disturbance Simple and inexpensive Closed Loop System Have the feedback path. Greater accuracy Less sensitive to noise, disturbances and changes in the environment. The system can compare the output response with the input and make a correction if there is any difference Complex and expensive

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Control Systems Example


Car Speed Control The car speed is controlled by pressed or depressed the accelerator pedal, which is, controls the fuel quantity to car engine. Figure below shows the equivalent block diagram for car speed
i/p reference (desired speed) controller (human driver) car engine o/p response (actual speed)

transducer (speedometer )

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Control Systems Example


The following term can identify from the block diagram;

Process/plant engine car Controller human driver Sensor/transducer speedometer Input reference desired speed (example: 110 km/h) Controlled variable actual speed Manipulated variable fuel quantity
The controller (human driver) is measure the car speed through speedometer. If the speed of the car exceed than desire speed (example 110 km/h), the driver will depressed the accelerator pedal. Car speed control is classified as closed loop/feedback control system

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Control Systems Example


Liquid Level Control Figure below shows the block diagram of simple liquid level control
error /actuating signal actual level controller control valve liquid tank

actual level level sensor

The objective of this control system is to maintain/control the liquid level in the tank at desire value
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Control Systems Example


From the block diagram, the following term can be identifying;
Controlled variable liquid level Manipulated variable liquid flow Transducer level sensor Process/plant liquid tank

The fluid level in the tank cannot be directly controlled. It can be controlled only by changing/manipulating the water flow into the tank The differences between input reference (set point) and output signal generate an error / actuating signal.
If the error signal is positive, it indicates to controller that actual level is lower than desired level. Than its drive controller to open the control valve to allow a higher flow rate into the tank If the actual level is higher than desired level, the control valve turn close to reduce the inflow rate

The liquid level control can classify as closed loop/feedback control system.

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Control systems are dynamic: it responds to the input by going through a transient phase before settling to the steady state phase. Normally, we would like the steady state signal to be the same as the input signal. transient response
Three major analysis and design objectives are: 1. Producing the desired transient response: Transient response is the case when the plant is changing from one steady state to another, when there are changes in the input signal. Example: elevator. Achieving stability: A system that can produce a consistent/steady output is a stable system. An unstable system is harmful to the plant and may cause serious accidents. Reducing steady state error: Steady state response only exists for stable systems. An important characteristic for design is the steady state error. Example: an elevator that does not stop at the same level at the floor may cause serious accidents to its passengers.

Analysis and Design Objectives


steady state

2. 3.

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Control Systems Response Characteristics


Input: desired level Output: actual elevator level (control variable)

Response Characteristics of elevator: Transient response Gradual increase from 1st floor to 4th floor. Steady state response When the elevator reaches to the desired floor. Steady state error The accuracy of the elevators leveling with the floor.
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Control Systems Design: Analysis & Objectives


6 G 1 2 Floor 5 3 4 7

Time, s

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Control Systems Design: Process


Step 1 Determine a physical system from requirement s. Step 6 Analysis and Analysis and design. design. Step 2 Draw a functional block diagram. Step 5 Simplify the Simplify the block block diagrams. diagrams. Step 7 Step 3 Draw a Draw a schematic. schematic.

Step 4 Form the mathematical model and block diagrams.


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Build a prototype.

Design Process of Control System


HOW TO START THE ANALYSIS OF DESIGN PROCES: 1.Transform requirements into physical system 2.Draw a functional block diagram 3.Create a schematic 4.Develop a mathematical model (Block Diagram)
1.Kirchhoffs voltage law 2.Kirchhoffs current law 3.Newtons laws

5.Reduce the block diagram 6.Analyze and design

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C M
f (t) Input

f (t) Input

x (t) Output

x (t) Output

x =? f

Mathematical model of Spring Damper System:


K, C and M are spring constant, damping coefficient and mass response. The variables are force, f (t) and displacement x (t). We would like to develop a mathematical model relating f (t) as input and x (t) as the output.

Mathematical Model

Spring

damper

f s (t)

f d (t)

x(t)

f (t)

Free Body Diagram of Spring Damper System:


K, C and M are spring constant, damping coefficient and mass response. The variables are force, f (t) and displacement x (t). We would like to develop a mathematical model relating f (t) as input and x (t) as the output.

Mathematical Model

Test waveforms used in control systems

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The End

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