Feedback Principles
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[[Image:{{{Short name}}}-firstpage.png|right|thumb|link=https:www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-{{{Short name}}}_24Jul2020.pdf]] This chapter presents examples that illustrate fundamental properties of feed- back: disturbance attenuation, reference signal tracking, robustness to uncertainty, and shaping of behavior. The analysis is based on simple static and dynamical mod- els. After reading this chapter, readers should have some insight into the power of feedback, they should know about transfer functions and block diagrams, and they should be able to design simple feedback systems. The basic concepts described in this chapter are explained in more detail in the remainder of the text, and this chapter can be skipped for readers who prefer to move directly to the more detailed analysis and design techniques.