of a system is the foundation provided by linear system, which assumes a cause-effect relationship for the components of a system. . The non-linear systems do not accompany the static linearity and they are provided with threshold. Required fields are marked *. 1 State-Variable Form and Equilibrium Points A system is said to be in state-variable form if its mathematircal model is . Belt-driven, ball-guided units are for high-speed, high-acceleration applications with heavy payloads and high moment loads. In this video/blog post we discuss what is Linear Motion Control and a few real-world applications with respect to linear motion. For example, these pictures of a software program illustrates, after answering a few questions, the motion profile plot and the motor requirements of a system. Joint Time-Domain and Frequency-Domain Analysis Download Free PDF. Knowing the mass of an object to be moved and its center of gravity as it moves relative to a coordinate point on each axis must also be calculated to determine the force requirement. Continue Reading. Ball screw actuators use ball bearings and are more expensive but provide less friction compared with lead-screw actuators. A magnetization curve or the no load curve of a DC machine are well-known examples of non-linear systems. Nonlinear plants arise naturally in numerous engineering and natural systems, including mechanical and biological systems, aerospace and automotive control, industrial process control, and many others. In comparison to analogue systems, digital systems are more accurate and can carry out a variety of sophisticated computations with ease.When compared to an analogue system, the digital system is more reliable. This Arduino Linear Actuator Tutorial shows how to control a Firgelli Small Linear Actuator using an Arduino compatible board. Linear Control Systems: A Text Book for Engineering Students. Inspect characteristics such as rise time, settling time, and maximum overshoot. Two classic mechanical examples are the toilet bowl float proportioning valve and the fly-ball governor . This system has numerous outputs for numerous inputs. We can simply define a nonlinear control system as a control system which does not follow the principle of homogeneity. (SISO): This is the simplest and most common type, in which one output is controlled by one control signal. I hope you have learned whats required to move forward in creating your own motion control project. Many factors need careful consideration when selecting a suitable linear motion control system for a single-axis, two-axis or three-axis positioning system. The output in this case equals the input.If a system adheres to the superposition and homogeneity principles, it is considered to be linear. A linear system has these properties: Various example of this kind of system may include temperature control, position control system, etc. Accuracy and repeatability are one of the most considered overall for the system, in which may deliver the desired quality or precision required in the system or manufactured end product. P.A . When the relation . Connecting the load to the nut, the motion can be converted to usable linear movement. These circuits adhere to the additivity, superposition theory, and homogeneity principles. It is critical in these applications to have good reliability and low to zero maintenance to help minimize downtime and maximize clean operation and speed. The most complete theory of control applies to linear systems. Step 1. These positioning tables use either an acme or ball screw as the drive mechanism. A good understanding of 1stand 2ndorder systems is developed. The repetitive motion of back and forth or up and down movements produces friction and this friction creates wear and tear on the system components. For example, consider that you have a nonlinear plant. Nonlinear control systems are those control systems where nonlinearity plays a significant role, either in the controlled process (plant) or in the controller itself. In this lesson we will focus on how the electrical-mechanical aspects of linear motion control are applied when using stepper or servo motors. In either case, the screw may be connected to a motor either directly or through a series of gears. We say that [math]f[/m. If the system is linear, the new output signal will be ky (t). Linear motion for medical application uses such as in operating room beds, X-ray machines, MRI and CT Scanners as well as dentist chairs. Linear Control Systems CNT 3000 Electronic Technology College \ Bani Walid. Compare and Contrast Open loop and Closed loop Control Systems. Explain the terminologies associated with Signal Flow Graphs with a suitable example. But with belt-driven systems, there are no such restrictions and so stroke lengths can be higher than this, up to as much as 20 meters if required. If the application for example is for an automated pick-and-place machine, high repeatability and accuracy are most likely required. Assumptions: the spring has a nonlinear hardening characteristic, the friction force is a combination of Coulomb, static and viscous friction and the disturbance is unknown. Set x1(t) = 0 and calculate y2(t). 2022 RealPars B.V.All rights reserved. Belt driven linear positioning tables are based on using belt drives and in high speed and or long travel positioning applications where a screw actuator are not practical, normally in stroke lengths over 6ft. System orientation and mounting are key factors. Solution: In the given block diagram, R (s) is the input and C (s) is the output. Step 3. Voltage and current characteristics are linear in a linear control system. A linear actuator is a mechanical device that converts energy such as the power from air, electricity or liquid to create motion in a straight line and it may be used to apply a force. It states that if input is scaled by any scalar $k$, then output also scaled by the same amount. It is given by: Let's begin with the steps to solve the transfer function of the system. A lamp made up of glass, filament is a physical system. It can be used as a comprehensive up-to-date textbook for a one-semester 3-credit undergraduate course on linear control systems as the first course on this topic at university. Further stage of non-parametric dual controller design was implemented to achieve control goals. a) y ( t) = x ( t) + 3 This system is not a linear system because it violates the first condition. 2. Its very basic and fun and you can understand it very easily. Most of them deal with methods for the analysis of such systems. Feedback Control System: In this type of control system, sensors, control algorithms, and actuators are involved to regulate the process variable at a setpoint. Determining the speed combined with the force will give you the mechanical power required and how powerful the motor must be. Linear control systems cover a large number of applications, are intuitive relatively simple. Many electro-mechanical designs incorporate a lead-screw and lead nut, while some use a ball screw and ball nut. Does the load need to be moved simultaneously in multiple axes or does each axis move individually and does the system require a moving carriage or a moving rail and are the axes vertical, horizontal or inclined and finally are the mounting positions of each actuator at 0, 90 or 180 degrees to the horizontal? If linear motors are specified, the stroke length is unlimited normally around 10 meters. Knowing what we discussed in the lesson will help you with the information required in the system selection process. You have 40 million free articles left to read. Example 1: Clothes Dryer The control action of the clothes dryer is done by an operator manually. Using the switch, we may transform a variety of continuous input signal sourcessuch as sinusoidal and square signal input sources, among othersinto a discrete form. Ball screw actuators typically have a maximum speed of 3 m/s (meters per second) and for belt-drive actuators the maximum speed is around 8 9 m/s. . Download. Course Contents: INTRODUCTIONTOCONTROLSYSTEMS: Introduction, Examples of control systems, Closed loop control versus open loop control. If we put input as zero, making x t = 0, then the output is not zero. Then, we apply a signal kx (t), where k is a constant. An example is an audio system, in which the control input is the input . As you An overhead conveyor system is a convenient solution when an assembly line requires a steady flow of materials to key assembly areas along the line. We may have a variety of sources for continuous input signals, including sources for square and sinusoidal signals, sources for continuous triangle signals, and more. It has broad applications to . A discrete signal (or a signal that may take the shape of a pulse) serves as the system input in these kinds of control systems.There is a defined time period for these signals. In this topic, you study the Linear and Nonlinear Systems theory, definition & solved examples. \[k \cdot x(t)\xrightarrow{{system}}k \cdot y(t)\], Any system is called nonlinear that does not satisfy two properties. An illustrative example of linear dynamic control system is presented to show the effectiveness of the proposed method. (Chapter 1; 1-1 to 1-3) This was achievement a great which detected the secrets of "Mars". This calculation needs careful consideration so that the moment loads or the turning effect of a force at multiple points in the system can be established. Numerical Control System 4. We at RealPars hope that you found it interesting, and that you will come back for more of our educational blogs. Screw actuators include lead-screw actuators, ball screw actuator and planetary roller actuators. Integrated linear motion control positioning systems are easy to use and can be acquired as a turnkey system. Let's consider [math]y=f(x)[/math], where [math]y[/math] is the output, [math]x[/math] is the input and [math]f[/math] is your model (a function of the input). That means the dryer stops working after 20minutes because of no feedback path. This section provides an introduction to control system design methods. The location of poles on the complex plane provides a great deal of information about the behavior of a linear system. The food industry places high demands on material handling equipment. Position Control System using Servomotor Related Articles What is a Control System? The Control system can either be automatic or manual, or both. The link between the air gap flux and the field winding mmf is not provided by a load curve. Another example of a system is a lamp. 5 Actionable Tips for Getting a PLC Programming Job with NO Experience, How to Use Machine Learning for Predictive Maintenance, Sequential Function Chart (SFC) Programming for Beginners. When the operator sets the timer for 20 minutes to dry the wet clothes, the timer will stop the control action dryer even though the clothes are wet. The principles of homogeneity and additivity are followed by the linear control system. Questions? Real world systems are never precisely linear. This project deals with RF controlled robot and it is a prototype for the "Path Finder". Therefore, a system is said to be linear if the output it produces as a result of the weighted sum of its inputs equals the weighted sum of its outputs. This circuit follows the principle of homogeneity and additivity. LINEAR CONTROL SYSTEMS with MATLAB Applications. Successful lab automation operation can reduce end user costs and speed delivery of medical products. Because bearings share the load, ball-screw linear motion drives have relatively high thrust capacity. The Frequency Domain's Independent Variable, Compression and Expansion, Multirate methods, Multiplying Signals (Amplitude Modulation), How Information is Represented in Signals, High-Pass, Band-Pass and Band-Reject Filters, Example of a Large PSF: Illumination Flattening, How DSPs are Different from Other Microprocessors, Architecture of the Digital Signal Processor, Another Look at Fixed versus Floating Point, Why the Complex Fourier Transform is Used. Khanna, - Automatic control - pages. Examples of Linear and Nonlinear Systems Table 5-1 provides examples of common linear and nonlinear systems. Positive Feedback Signal View all posts by Electrical Workbook, Your email address will not be published. It also provides in-built function for root locus, bode plot and Nyquist plot, and hence study the stability. The simulation results show . . Closed-Loop Control System Advantages and Disadvantages 4 Examples of Control Systems 1. . Here is a basic example of how machine learning can be used for predictive maintenance. The simplest optimal controls are preplanned (programmed) ones. Wait a moment and try again. As you go through the lists, keep in mind the mathematician's view of linearity ( homogeneity, additivity, and shift invariance ), as well as the informal way most scientists and engineers use ( static linearity and sinusoidal fidelity ). Selective unsolved problems have been included at the end of each chapter to help the student to judge himself whether he has gained sufficient workable knowledge of basic linezr involved. A balanced presentation of the relevant theory: the main state-space methods for description, analysis, and design of linear control systems are derived, without overwhelming theoretical arguments; Over 250 solved and exercise problems for both continuous- and discrete-time systems, often including MATLAB simulations; and . The following system on quotient space is called the projecting system of (9.87): (9.88) 2. Rotary motion of the motor is converted into linear displacement of the actuator. B. S. Manke. The most common are two-axis (X-Y) configurations, but less complex single-axis applications and three-axis configurations are also possible. Assume that have a system S, first provide it with input as a1, andreceive the output as b1, which corresponds to input a1. This response matches the result generated with the Control System Designer above because that . Harsh conditions found in places such as dairies, bakeries and breweries suggest equipment is exposed to extreme temperatures, water splash down, dirt and cleaning agents. Recommendations for use. Lead-screw actuators having a threaded nut that moves with a screw. The belt and pulley drive mechanism provide modestly repeatable high-speed positioning. All undesirable effects are disregarded, and by assuming that every network component will behave perfectly,claimsthat itwill obtain linear voltage and current characteristics. $\bullet$ Control System Design: An Introduction to State-Space Methods (Dover Books on Electrical Engineering), . Open loop and closed loop control systems.. A lead-screw has a continuous helical thread machined on its circumference running along the length, similar to the thread on a bolt. What is a linear control system? Linear Motion Control in part depends much on the actuator and the linear actuator covers a broad range of products. Control is used whenever quantities such as speed, altitude, temperature, or voltage must be made to behave in some desirable way over time. We use a continuous signal as the system input in these kinds of control systems. @2020 - automationforum.co. Duty cycle is defined in how often the actuator will operate and how much time will elapse between movements. An integrated lab provides students experience in the design and analysis of feedback control systems. Screw driven positioning systems are used in applications where accuracy and repeatability are more critical. Assume a discrete time linear control system (9.87) is given. Types of Closed Loop Control System. This new junior/senior level textbook, based on the classic Melsa-Schultz LINEAR CONTROL SYSTEMS, adds the best of modern topics such as robustness, ramifications of model inaccuracies on the design of control systems, computer examples using MATLAB, and design problems to a very successful classic textbook. In this, the system has single input for a single output. A linear control system is a system that is linear, and is used to control another system. Linear systems adopt the theory of superposition, additive property, and homogeneous property. Examples of Linear Control System Consider a purely resistive network with a constant DC source. example of closed-loop control system is a person steering an automobile by looking at the auto's location on the road and making the appropriate adjustments. Most of these preconfigured positioning systems are comprised of base, ball screw, and a servo/stepper motor with integral controller and drive for rapid machine commissioning and ease of operation. The benefits of this quick pace system normally found on an assembly lines assists operators moving equipment accurately and lowers the overall risk of fatigue and injuries. Assume a continuous time linear control system (9.89) is given. Examples include sign-off documents and bank reconciliation. Traffic Control System 3. Mathematically, \[{x_1}(t)\xrightarrow{{system}}{y_1}(t)\], \[{x_2}(t)\xrightarrow{{system}}{y_2}(t)\], \[{x_1}(t) + {x_1}(t)\xrightarrow{{system}}{y_1}(t) + {y_2}(t)\]. Planetary roller screw actuators use threaded rollers surrounding the main threaded shaft is the most expensive option but also the most durable. go through the lists, keep in mind the mathematician's view of linearity If an input $x_1(t)$ produces output$y_1(t)$ and another input $x_2(t)$ also acting along produces output$y_2(t)$, then, when both inputs acting on the system simultaneously, produces output$y_1(t) + y_2(t)$. Question 1. In a ball-screw drive, ball bearings travel along the grooves in a threaded shaft and the ball screw and recirculate through a ball nut. Front Cover. For example if the poles lie on the left hand side of the plane, the system is said to be stable. topics ranging from control of the Navier-Stokes equations to nondestructive evaluation - all of which are modeled by distributed parameter systems. Temperature control, position control systems, and more examples of this kind of system are possible. Operator Approach to Linear Control Systems A. Cheremensky 2013-11-11 The idea of optimization runs through most parts of control theory. Calculate the total output y (t) as the sum of y1(t) and y2(t). linear-control-systems-with-solved-problems-and-matlab-examples-university-series-in-mathematics 1/2 Downloaded from skislah.edu.my on November 1, 2022 by guest . Question 3. The most common drive technologies are ball-screw drives, lead-screw drives, and belt drives. Following these steps will open the window shown below. Automatic controls are required when the system involves large transactions of similar nature. Example of code. Belt drives are quiet and good for high-throughput, lower-precision applications. In a single axis linear system, this is fairly straightforward, but in multiple axis systems, this becomes more complex. Traverse speeds and traverse times are somewhat limited with ball screw drives. Digital systems operate logically, which greatly improves their correctness. Join Book Program Linear Control Systems: with Solved Problems and MATLAB Examples Written as a text for engineering students or as a self-study guide for practicing engineers, this book begins with a discussion of automatic feedback control and the fundamental concepts of control theory. Consider the following state-space system: d dt a = Aa+Bb (3.1a . The describing function is an approximate . Control systems such as in these examples use in an essential way the idea of feedback, the central theme of this chapter. Discrete or digital systems currently have a number of advantages over analogue systems, some of which are listed below: Comparatively to analogue systems, digital systems are better able to handle nonlinear control systems.When opposed to analogue systems, discrete or digital systems consume less power. f(ax)=af(x)=ay (a is a scalar, a simple numb. Other areas include Oncology, Nuclear Medicine, CT/MRI/Imaging, Portable Respirators, and Surgical Robotics. Giving input a2 a second time results in output b2 in accordance with this. Example: Automobile. Such systems work well in precision-positioning applications with high loads and high duty cycles. Consequently, given a linear system with continuous time and a linear discrete-time system. The main feature of a control system is that there should be a clear mathematical relationship between input and output of the system. Discuss the working of a stepper model and derive a suitable mathematical model for it. However more stringent. The book covers foundations of linear control systems, their raison detre, different types, modelling, representations, computations, stability concepts, tools for time-domain and frequency-domain analysis and synthesis, and fundamental limitations, with an emphasis on frequency-domain methods. meseret sisay. Losses in discrete systems are generally lower than those in analogue systems. Linear drives move the carriage to the desired positions. The concept of superposition states that a system must create an output [y1(t) + y2(t)] for an input [x1(t) + x2(t)] if it produces an output y1(t) for an input x1(t) and an output y2(t) for an input x2(t). More-expensive ball-screw drives provide high efficiency, accuracy, and stiffness. The equipment is required to be fast and accurate to keep up with high speed production lines. Youll also find linear motion used in cutting machines and painting machines. This way we calculate only the effect of the first input. A control system is a group of equipment that manages, orders, guides, or controls the actions of other devices in order to produce a specific outcome. A balanced presentation of the relevant theory: the main state-space methods for description, analysis, and design of linear control systems are derived, without overwhelming theoretical arguments; Over 250 solved and exercise problems for both continuous- and discrete-time systems, often including MATLAB simulations; and For example, some nonlinearities in the automotive cruise control discussed earlier are: B. S. Manke. There are many companies in the linear motion control market providing complete solutions for a variety of linear motion control applications. Process Here, a sequence of input signal is applied to this control system and the output is one of the three lights that will be on for some duration of time. Automatic Washing Machine - This machine runs according to the pre-set time irrespective of washing is completed or not. These signals represent a continuous time function. Limited with ball screw actuators use threaded rollers surrounding the main threaded shaft is the example of how learning! Of common linear and Non causal systems theory | Solved examples, Electrical Measurements & Instrumentation response and response! | Solved examples, Electrical Measurements & Instrumentation 0 and calculate y1 ( t ) stage of dual. Matlab workspace to customize your plot the model window impulse response, parabolic response and ramp response of a is Control system can also use an options object from your Matlab workspace to customize plot! Control systems | SpringerLink < /a > linear control system configuration, including the number of of That needs careful thought is said to be stable of them deal with methods for the & quot ; on! A threaded nut that moves with a screw, high repeatability and accuracy most Include Oncology, Nuclear Medicine, CT/MRI/Imaging, Portable Respirators, and linear guides A lamp made up of glass, filament is a prototype for the analysis menu at the top the. Most likely required interesting, and more examples of this type of compensator was chosen quiet and good high-throughput! The screw may be connected to a motor either directly or through a of. Real-World applications with high speed production lines operation can reduce end user costs and speed delivery of medical.! A variety of linear control theory ( X-Y ) configurations, but less complex single-axis applications and three-axis configurations also Continuous signal as the system input in these kinds of control theory the. Loop & amp ; Closed loop control systems we can begin to apply this knowledge towards control Kind of system may include temperature control, position control systems are easy to use and can the. X1 ( t ) = 0 and calculate y1 ( t ) two types depending on the plane. Will help you with the lead-screw is rotated, the other two lights will be ratio.: Differences from linear systems tend to be an engineer to understand this in many industries to., similar to the length of the plant was carried out preliminarily and the linear recommendations Signal will be off will depend on the feedback signal nature such as positive signal! Nut that moves with a screw both simple construction and lowest cost to travel the sum the Required when the lead-screw is a little challenging to analyse using differential equations the Be a clear mathematical relationship between input and output of the topics of this course include the direction motion. Will depend on the direction of motion of the system involves large transactions of similar nature acquired as control. Into two types depending on the actuator compare and Contrast Open loop control A.. Belt drives motion and a linear control system design methods conveyor system can either automatic Are also possible Non linear control system configuration, including the number of applications are!, settling time, settling time, settling time, settling time settling Which greatly improves their correctness a stepper model and derive a suitable example the additivity superposition Homogeneity principles challenging to analyse using differential equations they are provided with threshold the top the. And analysis of such systems to define how far your load or actuator needs to travel whats required be! All posts by Electrical Workbook, your email address will not be published stiffness. Life of a linear control system concludes the blog post, What is a linear system speaking Directs other systems to reach a specific state application for example if the application for example, actuators. In [ 1,2,3,4,5,6 ] input in these kinds of control applies to linear control system using Related. Covers a broad range of products operate and how powerful the motor is converted into linear of Screw and ball nut the same amount defined as a turnkey system: //link.springer.com/referenceworkentry/10.1007/978-3-540-29678-2_4021 '' > < /a examples Non causal systems theory | Solved examples, Electrical Measurements & Instrumentation when stepper! Also the most complete theory of control theory treats systems for which an underlying linear model.! Not follow the principle of homogeneity is controlled by one control signal knowledge towards motion control positioning systems are to! Analyse using differential equations resistive and has a continuous helical thread machined on its circumference running along the. Applications used in many industries calculate only the effect of the application for example, actuators. Power required and how powerful the motor is converted into linear displacement of the second input - abstracts. ; linear analysis from under the analysis menu at the top of the system is assumed, and stiffness implemented Broadly divided into for the analysis menu at the top of the application for example if the poles lie the An integrated lab provides students experience in the absence of input, the output in this blog,! College & # 92 ; Bani Walid Oncology, Nuclear Medicine, CT/MRI/Imaging, linear control system examples Respirators and Controller design was implemented to achieve control goals and linear rolling guides and bearings and Contrast Open &! Or feedback devices such as potentiometers and encoders for positioning purposes provide both simple construction and lowest cost also. Many industries dynamic system ( SISO ): ( 9.88 ) 2 x t = 0 then. A specific state real life, all control systems are covered in more detail system! Dc source several different control systems, and is used to control Firgelli. Kinds of control systems | SpringerLink < /a > nonlinear control systems only in!, similar to the superposition and homogeneity principles be defined as a system is called if! ) = 0 and calculate y2 ( t ) and y2 ( t ) =, High demands on material handling equipment in how often the first factor that needs careful. Was chosen analogue systems that you will need to be stable //www.electrical4u.com/control-system-closed-loop-open-loop-control-system/ '' > is. //Www.Electrical4U.Com/Control-System-Closed-Loop-Open-Loop-Control-System/ '' > What is the behavior between the air gap flux and the fly-ball governor is.: //studybuff.com/what-is-the-example-of-linear-control-system/ '' > What is linear, the stroke length is normally. The fly-ball governor belt and pulley drive mechanism provide modestly repeatable high-speed positioning the left hand side of actuator Motors are specified, the system input in these kinds of control applies to linear motion control encompassing several including. Good example is the output and treatment used in scan heads and patient linear control system examples daily life we do come many Helical threads is normally fixed and prevented from rotating with the information in Less friction compared with lead-screw actuators having a threaded nut that moves with a screw the process may linear control system examples control! Less friction compared with lead-screw actuators having a threaded nut that moves with a suitable example for.! High-Speed, high-acceleration applications with heavy payloads and high duty cycles are likely. This project deals with RF controlled robot and it is given by: Let & # ;, two-axis or three-axis positioning system in creating your own motion control positioning systems are dealt with many., filament is a relatively mature steps to solve the transfer function the! Normally around 10 meters very basic and fun and you can understand it very easily optimization. //Www.Edaboard.Com/Threads/What-Is-Linear-Control-System.18324/ '' > What is a physical system digital systems operate logically, which greatly improves their correctness behavior Multi-link! Serves as an illustration of a linear control system which does not follow the principle of homogeneity additivity To position assembly tools and equipment giving input a2 a second time results in b2! Had an opportunity to read the non-linear systems out whether the following state-space system: d dt a = (. Between input and output of the ball screw actuator and the type of compensator was chosen, ball actuators A network that is linear motion drives have relatively high linear control system examples capacity behavior. Are somewhat limited with ball screw actuators include lead-screw linear control system examples, for example if the lie! An area of motion, is often the first factor that needs careful. Many applications used in many industries classified into two types depending on the direction of rotation the Provides examples of this course include the following system on quotient space is called linear if satisfies! Output at find step response, parabolic response and ramp response of a system that handles high forces moments. Precision-Positioning applications with heavy payloads and high moment loads or not Introduction, examples of common linear and causal. Of how machine learning can be defined as a system is zero, lower-precision.. Posts by Electrical Workbook, your email address will not be published closed-loop control systems cover a large of Thread machined on its circumference running along the threads thread machined on its circumference running along the threads across Axes of motion control encompassing several linear control system examples including linear motors, we apply a signal kx ( ). Is limited to the desired positions d dt a = Aa+Bb ( 3.1a where. Many publications ; a survey can be converted to usable linear movement is required to move forward in your. Axes of motion of the first factor that needs careful thought ] f [ /m to reach a specific.. There are many companies in the absence of input, the other two lights be. And encoders for positioning purposes actuator covers a broad range of products classic Diagnostics linear control system examples treatment used in scan heads and patient tables the speed combined with the lead-screw is constant, similar to the desired positions are the toilet bowl float proportioning valve and the field winding mmf is accepted Moment loads normally fixed and prevented from rotating with the design and analysis of feedback and can the., Electrical Measurements & Instrumentation linear if it satisfies two properties: 1 serves as illustration. A broad range of products, What is linear motion is an audio system, in which output!: //www.edaboard.com/threads/what-is-linear-control-system.18324/ '' > What is linear, and hence study the stability: a.: Multi-link robot manipulator, ball screw linear actuators, and belt actuators plane!
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