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Control  systems  are  an  integral  part  of  everyday  life  in  today’s  society.  They control our appliances, our entertainment centers, our cars, and our office environments;  they  control  our  industrial  processes  and our  transportation  systems; they control our exploration of land, sea, air, and space. Almost all of these application  use  digital  controllers  implemented  with  computers,  microprocessors,  or digital electronics. Every  electrical,  chemical,  or  mechanical  engineering  senior  or  graduate  student  should therefore  be  familiar  with  the  basic  theory  of  digital controllers.

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