Table Of Content

The Electrical Engineering Handbook Third Edition Systems, Controls, Embedded Systems, Energy, and Machines The Electrical Engineering Handbook Series Series Editor Richard C. Dorf University of California, Davis Titles Included in the Series The Handbook of Ad Hoc Wireless Networks, Mohammad Ilyas The Avionics Handbook, Cary R. Spitzer The Biomedical Engineering Handbook, Third Edition, Joseph D. Bronzino The Circuits and Filters Handbook, Second Edition, Wai-Kai Chen The Communications Handbook, Second Edition, Jerry Gibson The Computer Engineering Handbook, Vojin G. Oklobdzija The Control Handbook, William S. Levine The CRC Handbook of Engineering Tables, Richard C. Dorf The Digital Signal Processing Handbook, Vijay K. Madisetti and Douglas Williams The Electrical Engineering Handbook, Third Edition, Richard C. Dorf The Electric Power Engineering Handbook, Leo L. Grigsby The Electronics Handbook, Second Edition, Jerry C. Whitaker The Engineering Handbook, Third Edition, Richard C. Dorf The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard, III, Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate The Handbook of Optical Communication Networks, Mohammad Ilyas and Hussein T. Mouftah The Industrial Electronics Handbook, J. David Irwin The Measurement, Instrumentation, and Sensors Handbook, John G. Webster The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu The Mechatronics Handbook, Robert H. Bishop The Mobile Communications Handbook, Second Edition, Jerry D. Gibson The Ocean Engineering Handbook, Ferial El-Hawary The RF and Microwave Handbook, Mike Golio The Technology Management Handbook, Richard C. Dorf The Transforms and Applications Handbook, Second Edition, Alexander D. Poularikas The VLSI Handbook, Wai-Kai Chen The Electrical Engineering Handbook Third Edition Edited by Richard C. Dorf Circuits, Signals, and Speech and Image Processing Electronics, Power Electronics, Optoelectronics, Microwaves, Electromagnetics, and Radar Sensors, Nanoscience, Biomedical Engineering, and Instruments Broadcasting and Optical Communication Technology Computers, Software Engineering, and Digital Devices Systems, Controls, Embedded Systems, Energy, and Machines The Electrical Engineering Handbook Third Edition Systems, Controls, Embedded Systems, Energy, and Machines Edited by Richard C. Dorf University of California Davis, California, U.S.A. Boca Raton London New York A CRC title, part of the Taylor & Francis imprint, a member of the Taylor & Francis Group, the academic division of T&F Informa plc. 7347_Discl.fm Page 1 Thursday, November 17, 2005 3:27 PM Published in 2006 by CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2006 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-10: 0-8493-7347-6 (Hardcover) International Standard Book Number-13: 978-0-8493-7347-3 (Hardcover) Library of Congress Card Number 2005054347 This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright.com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC) 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress Cataloging-in-Publication Data Systems, controls, embedded systems, energy, and machines / edited by Richard C. Dorf. p. cm. Includes bibliographical references and index. ISBN 0-8493-7347-6 (alk. paper) 1. Electric power systems--Control. 2. Electric power systems. 3. Systems engineering. I. Dorf, Richard C. II. Title. TK1001.S93 2005 621.3--dc22 2005054347 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com Taylor & Francis Group and the CRC Press Web site at is the Academic Division of Informa plc. http://www.crcpress.com Preface Purpose The purpose of The Electrical Engineering Handbook, 3rd Edition is to provide a ready reference for the practicingengineerinindustry, government,andacademia, aswell asaidstudentsofengineering.The third edition has a new look and comprises six volumes including: Circuits, Signals, and Speech and Image Processing Electronics, Power Electronics, Optoelectronics, Microwaves, Electromagnetics, and Radar Sensors, Nanoscience, Biomedical Engineering, and Instruments Broadcasting and Optical Communication Technology Computers, Software Engineering, and Digital Devices Systems, Controls, Embedded Systems, Energy, and Machines Each volume is edited by Richard C. Dorf and is a comprehensive format that encompasses the many aspects of electrical engineering with articles from internationally recognized contributors. The goal is to provide the most up-to-date information in the classical fields of circuits, signal processing, electronics, electromagneticfields,energydevices,systems,andelectricaleffectsanddevices,whilecoveringtheemerging fields of communications, nanotechnology, biometrics, digital devices, computer engineering, systems, and biomedical engineering. In addition, a complete compendium of information regarding physical, chemical, andmaterialsdata,aswellaswidelyinclusiveinformationonmathematics,isincludedineachvolume.Many articlesfromthisvolumeandtheotherfivevolumeshavebeencompletelyrevisedorupdatedtofittheneeds of today, and many new chapters have been added. ThepurposeofSystems,Controls,EmbeddedSystems,Energy,andMachinesistoprovideareadyreferenceto subjects in the fields of energy devices, machines, and systems, as well as control systems and embedded systems. Hereweprovidethebasic information for understanding these fields. Wealso provide information about the emerging fields of embedded systems. Organization The information is organized into three sections. The first two sections encompass 20 chapters, and the last section summarizes the applicable mathematics, symbols, and physical constants. Most chapters include three important and useful categories: defining terms, references, and further information. Defining terms are keydefinitions and the first occurrence of each term defined is indicated in boldfaceinthetext.Thedefinitionsofthesetermsaresummarizedasalistattheendmostchaptersorarticles. The references provide a list of useful books and articles for follow-up reading. Finally, further information provides some general and useful sources of additional information on the topic. Locating Your Topic Numerous avenues of access to information are provided. A complete table of contents is presented at the front of the book. In addition, an individual table of contents precedes each of the sections. Finally, each chapterbeginswithitsowntableofcontents.Thereadershouldlookoverthesetablesofcontentstobecome familiar with the structure, organization and content of the book. For example, see Section I: Energy, then Chapter 2: Alternative Power Systems and Devices, and then Chapter 2.1: Distributed Power. This tree-and- branchtableofcontentsenablesthereadertomoveupthetreetolocateinformationonthetopicofinterest. Twoindexeshavebeencompiledtoprovidemultiplemeansofaccessinginformation:asubjectindexand an index of contributing authors. The subject indexcan also be used to locate key definitions. The page on which the definition appears foreach key (defining) term is clearly identified in the subject index. TheElectricalEngineeringHandbook,3rdEditionisdesignedtoprovideanswerstomostinquiriesanddirect the inquirer to further sources and references. We hope that this volume will be referred to often and that informational requirements will be satisfied effectively. Acknowledgments This volume is testimony to the dedication of the Board of Advisors, the publishers, and my editorial associates. I particularly wish to acknowledge at Taylor and Francis Nora Konopka, Publisher; Helena Redshaw,EditorialProjectDevelopmentManager;andMimiWilliams,ProjectEditor.Finally,Iamindebted to the support of Elizabeth Spangenberger, Editorial Assistant. Richard C. Dorf Editor-in-Chief Editor-in-Chief RichardC.Dorf,ProfessorofElectricalandComputerEngineeringattheUniversityofCalifornia,Davis, teaches graduate and undergraduate courses in electrical engineering in the fields of circuits and control systems. Heearned a Ph.D. in electrical engineering fromtheU.S. NavalPostgraduate School, an M.S.from the University of Colorado, and a B.S. from Clarkson University. Highly concerned with the discipline of electrical engineering and its wide value to social and economic needs, he has written and lectured internationally on the contributions and advances in electrical engineering. ProfessorDorfhasextensiveexperiencewitheducationandindustryandisprofessionallyactiveinthefields of robotics, automation, electric circuits, and communications. He has served as a visiting professor at the University of Edinburgh, Scotland; the Massachusetts Institute of Technology; Stanford University; and the University of California, Berkeley. Professor Dorf is a Fellow of The Institute of Electrical and Electronics Engineers and a Fellow of the American Society for Engineering Education. Dr. Dorf is widely known to the profession for his Modern Control Systems, 10th Edition (Addison-Wesley, 2004) and The International Encyclopedia of Robotics (Wiley, 1988).Dr.Dorfisalsotheco-authorofCircuits,DevicesandSystems(withRalphSmith),5thEdition(Wiley, 1992),andElectricCircuits,7thEdition(Wiley,2006).HeisalsotheauthorofTechnologyVentures(McGraw- Hill, 2005) and The Engineering Handbook, 2nd Edition (CRC Press, 2005).