d~sttdbCUl\ca.

eVt+~
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to.) ~t.

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tuofov"UJaK"~ con+ral

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a.M~j

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FF

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before. it Y\+e,vs tiA.e proca.ss. l-t~ce.

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aia3r~s
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rt.spe.cnvtl y (Or (i) f~Q(orwCUr~ j (Ii) ~dlx<ck +
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llows ft.\- OfProrviate.

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Stream

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Ft?P13AQ of CASCAbe

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of -HAt tr~fer
f'tw,wcn
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we obta.iv'1 ~
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on(y
contrc?lJr;
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(11.05 +-1) ~d.

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4S{11.0S 1-1) ]cI.(S)

L
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1'1\0

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FIG- SI~'3lw\-HA +Ue sy"'b~L

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11\

<b\o ~

/
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implWlQtf:al:Le..

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9ff ctS ~ Slcon 0 DrOir syskm wrti\.

i~

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~v~~0 --

20

-20

80

100

120

140

160

180

200

time (Mi,,~)

As.

lLLustrce/) ~

SU.s~\*ib\

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of off5eb"
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is

lll\t~raL

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fie a~wa.v-~ oloV\~

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of

fftck

wi Ll

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obstrve. itrat -tW. pr-oass upset

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CQrre.d; fOy- upsets W\til 1M proLQ.$ ;oS

a.ction)

bu,t

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w heY'
mcba,c.,K

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Th[S ~bUAll~

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u. ~

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305

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( R.- R*)
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be C~5

MO

j = _ 2..0 e-

v-a.e-e

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d.-t

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fi.u'\cti~ for
by
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for feeo flM
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Lt.

22
2~+1

Lt2.

02.5
(05t/

51'.5"

ct,

(b)

9ff
',S'
DS"st l

~+

G(

Ll,2,

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1

22

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2.s

4-

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02.5

tOs,t-/

FIG Sl'.~

w~t

9ff

.::

gff

::.

-/5
222.5 + I

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(O.S"~ + ( )

(/baS)

wV\eV\

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is able. 10 pu{t1v-M Lf\ea.v- per{tcb'

-AA:.. proc.e~

~Ql

-teeGforweoro
d,V5tubaMCi-

V"~ecCiOYV

ea.s; ly , WlpltMQJII taMe lea/)/~

CuA

()Slt\j

about.
Feob4ck l-nfroL tMtL
cO(f"tcl;
,-eSIOUaL et'V-VY dl.li. ro lmp~kd
Moae-lin3'
Ov\ tiAt
~
ha.na i tlAe cctScac) S~e.Me. 'Ie.lU5 en.
pux, fuabe<ck tll\ 1M lll\lI\eY tOlf:) a. faste.r- loop TO be
SUK'e-; but
a.. -te.o b-ock Loop
a.tl fu same, 1"L'lS 's bou.rd

eleW\et\C'

-to be

UA _ &:t (I~5)

ir.d~O
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ltS~

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w~

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when,

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a.~

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"is tase2> m -HM (aa -t'tat"

CIJUJrSi.

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j

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rttatinj efftr;t- of
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kC1 <. 07

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<

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to)

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1+

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Qo 43.J

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I

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~~ows how ~i\t ca.scaol.

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To tZO)ploy

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3. =
3L

loop, tt\e

below ~Y) FIG SIb .11.

5nDWy\

l\)tcL\cL> StabLtL~ Mavjtv\

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we MO-y plot- iV..e

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is

L.V"'a.t-

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~1

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for

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l

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M

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I

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R
A
T 10-6
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lll\

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W\lr- c.J\~(
iV\

-shawn

~OY\.S

Nott. mat- ~e. -scale

W1trol)

Fur~

ct:l. MIl c.~

ill\

on

j is

x Ii:

d, uill ca.u.se
Ct

o.{SO~

G{,.

ii1.!j.

d I : 1) ~ 2 = 5Dou.
J

TIMe

XlO-5

30.
~)
(AAlnl.{lK-.5

FIG- 510.13

0.4

TIME

fiG S~14

30
lM,nut.!s)

ll.3

gc. %

2..~
D.02s+l

V'dUt

et~9

Block dCa3raM

FIG-St~. (5

(b) fOr

"flAt S

prvCQSS

-(Of" P'1y~

PtZJ(.a.ss.

J. t<c n'\l.tsr pe lI\tqa.ti~

II

+0 "",eu'eY'AL1zt

9L =

(0.025t
UMO t\A.e

\'

3at

--t.;"

1)(3.5 t 1)( Ssf ()

eaot o~9ram (5

V\e.utm.L'1
Wi- obtalll\
ffN.
V\

wlAtYe.

"'taanvt

l2.?>)(-f.S ) ( 3.5)
_

k',
--

'H-It.

sh{lW~

#\l!o

t/e~II\tclD.st4 lDt>p.

~LII\

11'\

FIG Slb.lb

foUaw~Vj:

At<. = O'O~8

1~1
~

t:'"l.4.-

2rc

=:>

5'. i 7

recornMtJl\OeL;

Ptt -= 1215

z-t\J set!i~..s a.re

obra~~

a.s;

proce.s~ Q$

iV\oi~

IAOW

?: _ (J"
.! - -'"
',2

Upon tMplelille.lA~

~lS

confrvlLt-v-

GM

#t

-fl1e

c1.D~~ loop syYetn gDes U1\JsrA8~! ~

2-t\J .serli~~ 1fJr PI ~l
ill\ 8~era.l
i'ev\o tb be -too aeJgreSSllJ j IV'I ~is ca6e #.iy 'JIVe..
(~ tD Q.V\ u.~sto.ble fetObcd:: syS-teM.
-me con1rolll- must-- It\0t,J

.b. oetuli\d.
cl.\o()..$

lCCf

--fz::>

sys~fV/{\

""IS rflo..y be aO'ne.

v-e.OlA~
~~Ofl.st

'tU-~te. o5uLlat()'(8
A

M 103
p
L
I

U
D

E 10 -3
R
A

i 10-6
o

10-2

P
H

A
S -100
E
A

N-200
G
L

E -300
10-2

[".r
J

i5

f1uw'

1.

5\t)OUM

CI

5werctl aitY~v)t W{Ur~'

+-0 01. The. Lf'esul:ti~

LV'I

FIG

bu.r now -LL- is slnhle.

51b.t7

j -11;

tve.
d()~

is s+iLL

!:1

~I

tJ

~iSC.

0
~i2tJ

-0.02

jl
-0.04
"'I

-0.06

(c)

UN\W ~

ca.sca..oe UK'rfr-c;l

ilAd~~

Mo~ifiaO a..$ shouJli\

iV\

FIG 516.16.

S(.L\VVll

fue. ~

ell.

FlG S I~. \8

Clock: dl9j,(Cl.rIl 1r>V"PolYMer Pro(e&5

lMoer

CQsca

()e CoYl1roL.

oia..gn:trtl

is

If

()OUJ

L.oYl+rol~1
\v'\to

(k

con+tolltr
I\\l)~T

Now

~l)..S,

9c ::: t:cz..
-l1;s

wi~

sysre.vn

with

tlAe

il/\

= - 40
~a.tiVe.

HAV A

Ou..te-r

Cl

uJe.

Must

POSlTlV~

lDop

PDSrtlV6

M-HA I(c, ;. +l5 0 j

+0*

*'~

va./.ue.. ho.s maoe

;V1V1lV-

vIS WSrty

lCtQjj)

UVltrOUrljji

6AIAJ:

LX" 01

Loeru:Ylla

not OY\ly is

it\t.

fr()m

tVll.

s[jt'1 cJt.~e!)

ill\~+i,~a~

.NlOJXlMUM

1.01)
iV\

aeyLa.tt'cJh ~

set- -.po~1I\t

(p) 15
_"

sll}~L-Rca.ntLy ~ebuctd (nofic.e.. -tVL ~t

for ~ ,'s )( It) I)
ove.v-alL ~GWL(f(" is belttv':
~
osculatiCVl> ~
3t:M.

-tV.e

t\..\e. GlOdltiM of +L\i-s ca.s~

IMpvovid. pvoce.ss ~.spO'l1se.

Thus

Coop ha.s

-St5tAificevnH.y

XlO-1
0.05

tl.\t"S

;lIf\pli~ +lA.o..t-~

j'tlVl. 1Vlis
iJ..-1! onSMaL

fey ~
VC lSC\)J(\e a.s tV' pWr Lb) exapt
-ti\e proass ~pOt'lse
rt-o ~
,stU'f\e Mputs
Show~ be.low in. FiG- SIl~.~9.

Ob~Vt

IJlO!;e

lI\OW

0,

i;\

.~

-s
~

~ -0.05

1
~

& -0.10

"2

....

:::lj

-0.15

30

I1ME"

.
40
(Mm~res)

BloC~ d'G1G1raM fe7y tb(y~"'przxeS$

MLAltilaYlltU ca.sca CCY\'trt:'~.

FIG 51(".20

\iov~
5~nais

;V\1\rl)OU!eO

fYlNn

loops f.Jt\e at"

~O

c,

~,

ru0

CL

~+-ctUrt:

til!l"lt

Be

,S"

fw ~

r.lSp~ctivdj

Cz.

we.

~n~j

C01 S oll

wi/!.

UI\Oer

C-untreLi"'~41

\late. ~

Ek" loop -tv

tt.L

2.39c~
-----

0'02S+ (

of

:4

+ ~'3B,1.
o.02$-t

U2.

=-

(0

,.390.3

0.02.5

t.\l.

.J.

i + 2..3~

)c
2..

ow

9.3 c"

ld
2.3..9C

+ [cH{O,D2S+I)
0.025 + t +

j'

-to

3d3

.3

(tb'~

.'
d

(U,.2i>b)

W~~
~1Aat-

~s
ts,

coU\so!;oal"ioo,
S~OUlt'\.

below;~

bled< <3i"ct.3ro.m is

!J'.OW

5;lNIpl'6~1o

slb.2i

fiG

a5
S6t I
I
I

- -

- -

FlG Sib. 21

- Poly~V"

afru
Next
~l-

cO'~iecu-e..
LV\

flG

~fZ)~

--,

bbck OIQ.:VaM of

CGN\Q)lldaii~

lltwly C(ftIS()Ll~
W obraill\:

it-\e.

SL&.2i,)

FIG 61620

first IMLr loop.

5i.nf}t..

illl-\u

loop

sirlOlJM

0.5($5

ldl

H)

ieostl)(5"H I t a.s.9t~,~
(lb.2~

~:.

l.fJ ':!d

U,J c! t

tt'd d

i"

(U,.Ub)

d.3

1- ~
3

<.p <f>d

l.Ui~ tiAt. t'rQAAskt" fUMdiN\S

1".'2.2.~ ~ b.

(b)

2.

4'd~
w

4Jd
I

L I

ObVtOUS

,",0

~:: Kc,3 :; D. 5
~rai~CcA~ ~
Two clivrtrvlJ.ers
cf
'Pro1:;(t.W\ ib.8, ~
re5pCKlse -to ~
;{lal~
aiSf'u.r-baulas
is &Ir\ o lAM V'\ FlG SIb. 2.3 .
W(ttA

~pcw-u
witIA
-fUOba.Ck controL)

W!J\eJA

~al

~se

-HAt

CUV"lten

.9~ c-lcwly

supevCOV"

Cascade lcop)

we. obsuve.. '""-tat-"

cf

tiW\t-

~blt

Lt- ta.!ll.~

c.AC1la.tClhP.
0-

SO'mtWlJ\~

[-Nrt.

ca.,ScQ ~

tll\

-Mak

wl.\t\l\

t~

eontro L 0-\~W\~

5t".17

t euntroL ~'r)e

CflYYlptuio

the

FI6

w\~

i oS

iV\

ts

FIG Sib

mos" obviot..ts

(~iJAStV\

-tv

.1.9 (sll'\gle.

etdllQN)taBe.

ft\t. ~OUMl-

r~td- h oishLYbtlMCR-S - alMOSt' a.. 2.OMill\.

~
MC44W\lMV'I
OevlaiiOn.
a.U~
is nLM)wer
)
)
{two( of f+',t
~t-CW\oard Ca.5ca.o. Cdr'\fro{ ~~
fut ~- ttoci ,!)
s cal.e. i'" FIG SIb. H} IS J( I()- J. ).
tD

betwefW\. ~ fluw C<N\wL

lDOp [wif-t.\ Cjc.~) ~ ~ +tMpua-"hve ~L
loop L AA~ IJc;z.) w"i c,",
is abstv\t iV\. stuV'\Wd
ca.sca.o<l.
CO'fT1ro{. HOWevlY'J -+fAi eou.ble. c..a.sCt
ThDre is

eJ\eW\

a.

cornpUc~

wiLL etlwo..ys

~suJJ

i\l\te.vaction

llt\ 'luic.kiY' VT(~t.".se.

L Sle

FIG

516'24).

(c!z. :+30C ) d:.; t2psi)

-0.02

kc ~ 05

<.
....

:sJ

-0.04

20

(c)

30
TlME (Mir1U#s)

The b~sic.. ~e..v-Lyil-\j p"';losoplAy of casca.dt. con+rvL i.s

w~
is
cmnil/\B lV\m play ~iY ~ wit1A a. si~le
fast-

loop (~

iMU'

cooUlI\S

Tell\puoJu.v-~ fu\froi)

UlMttr

be V"e-Jtc.biO
be a. f(i.diO

~u1-0/)

i.tstLf

tJL-UY\

ca..SlQ.ot

lDcp

w~

<GUfpl'l

pressure-

fost

flow
Cl

TII\

fu""~

#\fs

UJ:,

~pera.hMr~

doubt. ~CA.Oe

by

-tt\l

boftA

Sc\.\tWl,

flvw
~

b,f.Jl\e{ft- ~
as
ofstu.rbcut\~s ih ~e.

(.OV\taj~

CfJM

tllu.stfatlCiY\

\Ii'.c.-V'easi~
Q\D
retC\iLAl~

COl1lo

be
so ft\eu-

COV\1wt(tr

C ewv pvoviae +iqL\1eK

A&

;"

sUfpiy -t-Mp~.
;V\ parfl eu.la.+r CCW\
be{ttre #'i PolY'Mf
l/IS~It:J can
<Trctsfi ca1l.y.
'BLlt- e.V'tlA t1Al. II ItflV'llY' 'I

~inJllU'"

-relMp%~L-

cHSft,vl:u~MleS

itle..

l'

MI#ter

l-lMpva.twre.

Cc.vrfrvUl

wrrf-rof
/rilw

ctble 17)
CQAtroHe.r jaiV\
l~

TC

by

a.s ~

MUdA. {aSter

~\e.a- distur~5
+0 k'3':' 10
a...s

tf.\l..

Vc.

pred5~ly

CKijiv"aJl.y
Oe.Si:JlAtb iV\ ProbleM fb. 8 ... +!Ae
to ft..\e S)Jtl\t ol-sfiurbQ)l\~s C d2,. :. +3DC)
d ::- t"2. p.s:) ;5
3
btllW 1",
FtG- 5lb.24-. Tnt fa.s~
Fe. ~its
it'Ie, ob~
('O~
~<er'rtjiiOl\ of
ffie. diS1urba.Vll:e.5.
0.5

(4z = t30C)
'3:'

20

30
'TlMc

FIG

l~,ol &eau..st. tt
ft~

CoJ:.~

I5

...
ate.

i.s

#\t
(tt.\e

v-Glho

de$i~no.r~

~cSu,Y"atiC\fY

M~

C(mtrot

C.f/tl\JI"l()ll1

sdAt~

lfLustra.td
~)

U ) MlCtSIAr. VQV\ClQi(..tM
Ui) MU.Hiply by +L\l

S)

c{3:: +2p

10

'

40

comroL proauction r-4te.

~cw-t'l -HAt co- cat-a.tst.-fttAJ

&cic~ frJ<l-o roklo
r) is
j

~OUN\

51". 2if

fo

L.t~

CMi~s)

rsp/.Ct:

is

CI.S

iite

V~i~~

tI-t /lUJ~I~streCUM:'

-to ~ aojus~et sc #ak-

ma.ilAmili\~cL
MCAy
i'1A.

be dtJ{s~td a.~ f~lU;wS) Us;~

Ft~LVe.. 1b. (2. t.b)

Ci"xl::
eonf(!Ju.m:tftM) .
;l;\

-f/-\e

pv-Dbu~
ea..tcl.ysr flow.
oe.strt21 ratlO ) cu- a. r-a.tfo st-a.ttChj
(e5S

Wi) ~

Altl.A1 i\l\u.M

@) Des'i~lA
SetpoiV\t

rlsw.t 1tAl.tS prooL.(CQ.s a.s ~

CO caXalyst
f'{tJW rake
~II\
o.pp~y~a.t-~ filM) CIJY'rly-oLlr
UAAO MON\ipu1at-e.

-ft1e.

l/aWe

,se.I:--poZVlc
tD

fCY-H.1t.

nCEilje #\1 s

on tIAe

ClJcato.LyJt"

liV\e .
pvvces~

1V)e
lll\

O~YQAfI\

fbr ~u~

a. Sd1~W'/~

;5 S't16t.tM

be.1{)W

fIG Slb.2,5.
Production
Rate
Controller

RcUtD
~~

Vanatium
Catalyst

R.

Production

Rate
Eltimator

(P)(i;The.

ai$~~

*0 ~

CloSLVS

(?-

TCf.J
0

ff

e-atiSlS

profOitiev'al-CXlLy

by FUS S

+V\i.

Lt1Ae

va.we.

5t.Y~

mlX~

CtN\1roUu)
by

tUI\

~)

by

l'esf~N)~

p~~

o.NIIOlMAt

+0

tW. obse.v-~
et"((J('
[\1\ T;
Ui) The re1 coYYtr6l CtCh~ cau~
~DS

+0

t- iv\s toN'I{;Q,v)01.L,$

a ...ise
a. e.tio'Y\.

+tArs .s~.

T uJ"'.icJ.,. Is

LlI\

is

LO'rlItl

UJ'~caJed

TC2.

Qic')

Tel

by

t"l.sponOs

X.cV\tvI\!1e..t')

flow f7> tf,.,e, ~at

whic.h u;\ll ca.u.se. T to (rlCYutse. but" em a s(t1W'U"
irlc.reasL'5

stt.QrM

tiWlt. SCGt.Ie.
~Il) As -ri.\t Tel. actich.s
by

O~ill\,,9

bypass

bter", w -la.L<e

e((;.ct)

'TCf

respt70()s

-H-\t bypa.ss vaLv~ ~aivl

WI\+l(
I.LHi~a.Je1)1
b ~
10 ~..rs ~rs't\o.L 5fa.v--ti~ value.

up
I/~

0( 5D~ .
.ULX{MA~ ffF

~r.s

~cr;

i",~~

rC1
CV\

u1fi""o..t"L ~msibal~
Tt\ls

p arau.el

pY[;viQ~

sc1\eJ,V'l(Z

r.eQ~u.st.s ~

prv~

rljulatfcn.

'h> TC2..

ftr ~
LtJil!

instz:wl+aM.eOlLS

rx

m(/'(e

t7S~eJ

fez.,

passes
-f4/::es

e.({e.dive, 6l cau.se "t.-t-

prMit-s
almast .Ipe..r{ut-'I) al.tl\D.Sr il-\~~tou.s
<:3ISfu.r6"tuAu..
Vl(jtc.n~ j
ct
scl\t1N1l ba~il> ()(\ lCz. cU()nl is liMI1t)
by ~
skv oy "amlc-s aSSDcillJi~ wHL, k if(ed- of
st-t.Q,A/V\

fWw

n:U-t

c~

o'n T.

c..offiyuL Syst.t.W\
+t2-M fll.ra.b.we,
i~

f~

to

a. -t()F Sk!f ~
s'v\OUM 6tlM M fiG 516.2..7.

V"seOYls'

L'JI\

TeMpe~TUKE.
co~U>1.. 8Y
JAaGr c.ool-IIJ(T

,
6

(b). U~

92 =
cw\o

10
time (min.)

2.-

tJ

[6

C(7toI~

cast

ste.p

C~

for

16

18

20

ttMpua:twr
MOdti 1raN\sfe;r ~

aOti:w(l.

evrrlnl
i.s

6b.2Jf)

-.1$

O5e,

rU!J'MMtV\?:ti})

(2.)

-O.slj:"i

'r

14

25 t (

kc '::. 09

::\;\~.s

12

UVlOt.lASt' unit +0
ilttt appYOpt"ia.k

fut..

lWlpllLs

-sttti~s a.r~ obt-~~

CiS

= -3b, 0

0.33.3

c1os~ (1)0}' .sys~

resp(7l)S{.
to ~ ~~
i~ fei4 +ervy>uaJ:ur-e..) Llsf~ iVe O\JU~
~pe.ra..tuKe.~)
is S~OUIf' ~t\ FIG 51628.

-iV\e.

T~fflATl)Re
C()1JTTll)~

Sf

O\lf:RlteAD

C()IJoe1J5efZ,

~u06

-0.020L--2'----4'------'e'-----'8----'10------l.12--.l.14--.l.1e---'-18---'20
time (min.)

(c)

W~

contrDt~S

-ft,Uo

SCM',~.l;\t:u"toU.SLyI

s"'cux\ btlow

~
~lI'\

QY~

Oveva.tL

pV'"()a~~

fiG- Sib. 2.9

-o.ts

-4e-

{~$+I

_O.~-o1

2s+

ctNnbW\~

blocJ<.

cw:o

U~

4~rQNY\

(\Jaw,
~

Bel

~
uA-t\A

as
as

G2,.

pcwe- Q?)) i-e

l'"

set,

pro~

~L~

u..v-oU'

Zs
~

CQ.rrfroe

c.DOL\~C\

FlG

~~5

cllar)

5'o{h,2.9

s~

Ll~.24)

UJrtk
J

-t\..e. Sl)~

m ~
Wl\OU

Cj,

Loop

~s

sta.b'lL r-odh

Qc.2.

lllp

cGV\q~.su ~
S1b-30 uJ~re

FIG

~(e.
if

InOlvi ou41lJ

-two

COMbt~)
e:tditiV\

~p~c.it:tLLy~
bl~ "utr\~

92,.

ClS c}l.1i~

~C!e.Yis1i,",

L-IA

(I~.Z~

{or

~ah~

LoS:

~i~

CPnwL by

IfsgE)..I ~

t1lUl.rQ.M~ ~

ij~CJ"J,

({w-

::. D

CP\'\.~

")

Gb\)

J~

CPJ'rtY"f)l!u-

.::. 0

L (vv

t +

ftU:b"
nor
no
~tt.blt.

-ftJ)L

'Z".I.

na.s sta.btt raob

()f ~

.syslvn is

~1r-oL

l -+ ~~

ul~

33.75

h> LIi\sta.biLit:1.

~YJ
aW>

ift

ovuatL

uJ\~

(~a

rw\~~t

l~::

jl~

JVl+u.aivt,l1 J ~ s~ou.LQ ~~
~
~S3ve~~vt. ~ootrol~.s a.vrl k> ~
tV\

(e
pcvt

9cl, -= l<.c., = - 3".6;

~ysre\J<l ~e

j~

POKC~)

Cli\

~l~

1f'k-assf)J;ly
uQ"QMtu ~
rWrJ'
FIG Slh.&)
~.s
arrtroLlty- par~
~
fa.cJ:- make.

by LtseJf)

L:'.25J
-tL\a.t-

wit(;

lV\

will lAa.v'e

tlAt.. sysk.M UJl\sf4.Ii..

8i

10'0

VNt>~

e>1M.IJt.T,A-

NeoV~.J PAIU\.lL,.

usoJ

& O~L.

G-

/NOIVIDV,4:Wj

De-Si6N~

U>~$.

a
-2

-4

-6

-8
-10

10

11

1\1e. ClfPrvp(~

6~.2.5) [Or by
~

r~

PyZi~U.V-t.
GWly

1V\tQ.V\,S

~Y'

e~a of

~Llla.tiVt-

coo5ld~).
A stvaf1't-fO,uJax-O

he, 'tX ~

17> cl".a:?.se
~

Kc2 ~.~

'+t\~ ~

uJl.'\icl\

-tvJo

COV'lfy~llus 'in!?>

of

oe.CU.~i~ iV.e. ~lers

l.S
siMply
-Tv cl.tt ~
aatli\6 bOCk. fu ~~~I
by cLttti~
-HAt Sct~~ iV\ LvUf)
".875 ..i kc2, = - iB. 0')
itAe. ()V~
cJ.osW toop s~rLW\ ~
be~
sfaJJle....
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0.03
0.02
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10
time (min.)

12

10
12
time (min.)

CDtVlROL.

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0.8
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:l

0.6
0.4
II

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0.2
0
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10
lime (min.)

FtG Slb.33

12

14

16

18

20