3. A simulation environment.

• 3. A simulation environment.
• 4. Step length considerations.
• 5. Modelling a second order system.
• 6. The complication of motor drive limits.
• 7. Practical controller design.
• 8. Adding dynamics to the controller.
• 9. Sensors and actuators.
• 12. Putting it into practice.
• 13. Observers.
• 14. More about the mathematics.
• 16. Solving the state equations.
• 17. Discrete time and the z operator.
• 18. Root locus.
• 19. More about the phase plane.
• 20. Optimisation and an experiment.
• 21. Problem systems.

3. A simulation environment.