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【正文】 ence of disturbances, tends to reduce the difference between the output of a system and the reference input (or an arbitrarily varied, desired state) and which does so on the basis of this difference. Here, only unpredictable disturbance (., those unknown beforehand) are designated for as such, since with predictable or known disturbances, it is always possible to include pensation with the system so that measurements are unnecessary. Feedback control systems. A feedback control system is one which tends to maintain a prescribed relationship between the output and the reference input by paring these and using the difference as a means of control. Note that feedback control systems are not limited to the field of engineering but can be found in various nonengineering fields such as economics and biology. For example, the human anism, in one aspect, is analogous to an intricate chemical plant with an enormous variety of unit process control of this transport and chemicalreaction work involves a variety of control loops. In fact, human anism is an extremely plex feedback control system. Servomechanisms. A servomechanism is a feedback control system 4 in which the output is some mechanical position, velocity, or acceleration. Therefore, the terms servomechanism and position (or velocity or acceleration) control system are synonymous. Servomechanisms are extensively used in modern industry. For example, the pletely automatic operation of machine tools, together with programmed instruction, may be acplished by use of servomechanisms. Automatic regulating systems. An automatic regulating system is a feedback control system in which the reference input or the desired output is either constant or slowly varying with time and in which the primary task is to maintain the actual output at the desired value in the presence of disturbances. A home heating system in which a thermostat is the controller is an example of an automatic regulating system. In this system, the thermostat setting (the desired temperature) is pared with the actual room temperature. A change in the desired room temperature is a disturbance in this system. The objective is to maintain the desired room temperature despite ch
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