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state errors and many examples were developed to explain its dynamic behavior. In particular, the quarter of a cycle of phase lag (in a response to sinusoidal input) that is produced by the integration process can become critical to the establishment of stable behavior of closed loop systems containing one or more integrating elements in the loop. The decibel convention was introduced as a convenient way to linearize the gain versus log-frequency plots and many examples of using the frequency response approach to systems analysis were described. The most commonly used tool for expressing the dynamic characteristics of closed loop control systems, namely the frequency response plot, was described and rules for generating the gain and phase angle of typical elements and systems were developed and reinforced with examples. In its open loop form the frequency response plot is termed the Bode diagram and illustrates the stability margins of the system. Frequency response plots are also a common medium for expressing the closed loop performance characteristics of closed loop systems. The Nichols chart was introduced as a powerful graphical tool that can also be used to present frequency response characteristics. Here the gain and phase curves of a conventional frequency response plot are combined into a single locus with speci c frequencies identi ed as points on the locus This tool, however, is unique in the fact that it allows the control engineer to see both the open loop response (with a clear de nition of the stability margins) and the open loop characteristics from the same plot. The frequency response plot, together with the Nichols chart, are de ned as the most important graphical aids in the analysis of closed loop systems and the chapters that follow only serve to reinforce this opinion.

Figure 8-9: Shortcut icons in the All User s Startup folder 3. Close the Startup folder. The programs won t start immediately. You ll just be taken back to the Windows desktop. To test the changes you ve made, you ll need to log out (click the Start button and choose Log Off ), and then log back in to any user account. Or, if you don t have multiple user accounts, you ll need to restart the computer (Click Start and choose Turn Off Computer Restart.)