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...Part ib paper information engineering linear systems and control glenn vinnicombe handout an introduction to feedback ys rs es ks gs zs hs hsgsks z ls return ratio lsrs closed loop transfer function relating gsks ysgskses keypoints the functions are actual which determine behaviour of a system they relate signals around such as plant input output external injected into reference disturbances noise it is possible infer much about from consideration alone aim using for yt follow signal rt in presence uncertainty persistent dierence between called steady state error errors can be evaluated nal value theorem manysimple problems solved combinations proportional derivative integral action basic type but dicult achieve good damping small simultaneously often used improve reduce contents anintroduction open derivation characteristic equation what if there more than two blocks note on sensitivity complementary summary notation final revisited response some simple controller structures pd pi pid...