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·  Getting started

·  Using the PCS as an analogue control system

·  Using the PCS as a digital control system

·  The pendulum control problem fundamentals

·  Two modes: swinging crane and inverted pendulum

·  Calculation and instability of y for inverted pendulum

·  Analogue and digital modelling

·  Derivation of plant controller

·  Recommended texts for block diagrams Laplace and Z transforms

·  MATLAB solutions for DDC, inverted pendulum, crane