This chapter and the next are most fundamental to the design methods in this book.

Before learning how to design a control system, the dynamic behavior of the plant, or equivalently the mathematical model of the plant, should be investigated. In the first part of this chapter, dynamic models of typical plants are introduced and the rational approximations of time delay are discussed. In the remainder of this chapter, the basic methods for time domain analysis and frequency domain analysis in classical control theory are reviewed; further discussion on design requirements and performance comparison are given. The analysis methods of classic control theory have been widely used in practical control systems for a long time. These methods are the basis for developing the new theory in this book and for understanding the related topics.