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stability pi pid controller reciprocity root locus construction example rules frequency response analysis frequency domain specifications resonant peak resonant frequency bandwidth polar plot advantages stability analysis numerous examples nyquist plot nyquist stability criterion bode plot block diagram sfg p state state vector state variable controllability observability second order system steady state erro time domain error constants type number competitive examinations formula book control system routh-hurwitz criterion nodal analysis dot conventions self and mutual inductance supermesh supernode duality dual networks tree branches chords differential equations loop equations mesh equations transients laplace transform transform impedance & transform admittance convolution integral symmetry parameters relative stability gain crossover frequency phase crossover frequency gain margin phase margin pd sources active & passive elements kcl & kvl series & parallel circuits elements superposition ³Ù³óé±¹±ð²Ô¾±²Ô’s ²Ô´Ç°ù³Ù´Ç²Ô’s maximum power transfer substitution tellegen's theorem network topology loop analysis