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This thesis presents an analysis of a nonlinear servomechanism,, The nonlinear control device is an electromechanical spring clutch designed by the Propeller Division of the Curtis s-Wright Corporation for use in both missiles and manned aircraft. A mathematical representation of the system is first derived. Then an analytic technique is presented which may be employed to predict such closed-loop response characteristics as gain, phase shift, and bandwidth. Investigations are made regarding both the absolute stability and the relative stability of the system, however, only limited conclusions are reached due to the lack of established stability criteria for a system of this type. Recommendations are made for further study of the stability of this system for the purpose of establishing such criteria. The ground work for this thesis, including the preliminary analysis and all of the equipment tests, was accomplished by the authors during the summer of I960 while on an industrial experience tour at the Missiles and Space Division of the Lockheed Aircraft Corporation, Sunnyvale, California. The authors are extremely grateful for having had the opportunity to do this work at Lockheed Missiles and Space Division, Particularly, appreciation is expressed to Mr. Fred A. Schupan of Lockheed, for his very able guidance and assistance throughout the conduct of the analysis. Appreciation is also expressed to Messrs. Richard Lawhorn, Kenneth Alder, and Charles Cox, of Lockheed, for their assistance on various aspects of this work. The authors gratefully acknowledge the advice and assistance given by Professor Robert D. Strum of the United States Naval Postgraduate School during the writing of this paper., http://www.archive.org/details/analysisofonoffm00dunc, Captain, United States Marine Corps, Lieutenant, United States Navy

The object of this research was to model an actual structure, Bullard Hall, in order to devise a more energy efficient means to control the internal temperature of that structure. The research included a study of all major thermodynamic forces acting on the structure, including solar radiation. Once the model was developed it was compared with the actual structure to determine its usefulness., http://archive.org/details/applicationofcom1094520068, Lieutenant Commander, United States Navy, Approved for public release; distribution is unlimited.

Advances in digital computer technology have led to employment of the computer as a control device. Although many theories for utilization of the digital computer as the compensator in a position feedback control system have been proposed, there is little documentation of digital control performance in a hardware environment. This thesis is an investigation of the performance of a real system under sampled-data control. The variable gain amplifier sampled-data control theory is first simulated and then tested on a real system. The hardware and software developments necessary for implementing this control theory are discussed in detail. Additionally, this method is incorporated in a time-sharing computer program for controlling many systems simultaneously from a single computer. Results of the tests are presented and evaluated., http://archive.org/details/controlofrealsys1094511858, Lieutenant, United States Navy, Captain, United States Marine Corps

http://archive.org/details/algorithmsforcom1094522867

In this paper an investigation is made of the problem of estimating and predicting the states of a linear, discrete, time-invariant, dynamic process which is excited by Gaussian noise and where the observable states are disturbed by Gaussian measurement noise. The concepts of optimum filter design, originally developed by R. E. Kalman, are utilized. Also we have closed the loop on two illustrative examples by determining the optimal control for the plant as a function of the plant's state variables. Here the concepts of a cost performance index and dynamic programming (the latter originally developed by R. Bellman) are employed. The CDC 1604 digital computer, using Fortran 60 programming is utilized in the solution of the optimum filter-controller design., http://archive.org/details/casestudiesofopt109459457, Lieutenant, United States Navy

A study of the electrical nature of neural communication is performed. The study provides a background for the evaluation of an electrical mechanism, set forth by the author, as a possible explanation for the effect of acupuncture. The electrical and biological processes involved in the conduction of the nervous impulse, as well as the limits of understanding of those processes, are studied. The role of the arrangement of individual neurons into the human nervous system is examined. Also, the phenomena of pain and referred pain are investigated., http://archive.org/details/astudyofelectric1094538510, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

Active damping of modal oscillation is critical to the success of future versions of Space Station Freedom. Vibratory motion may be induced by external disturbances such as solar and gravity gradient torques, extra vehicular and experimental activity, aerodynamic forces, the earth's magnetic field, and space shuttle docking. Linear proof mass actuators can provide control on the space station to achieve this damping effect. Two control algorithms, Linear Quadratic Gaussian control and H∞ control are applied to a model of Space Station Freedom. The results compare the robustness, stability, and performance of the Space Station under the effects of each of the two control algorithms.

This thesis is an introduction to the use of computer-aided design (CAD tools for the design of very large scale integrated circuits (VLSI). The techniques are described and a tutorial is given which illustrates their use in the computing environment at the Naval Postgraduate School. The CAD tools were applied to design a 16-bit fast pipelined adder.

The object of this research was to model an actual structure, Bullard Hall, in order to devise a more energy efficient means to control the internal temperature of that structure. The research included a study of all major thermodynamic forces acting on the structure, including solar radiation. Once the model was developed it was compared with the actual structure to determine its usefulness.

A simple, microprocessor oriented algorithm is developed to identify, track and suppress bending mode signals from a control system's rate and position feedback signals using adaptive digital notch filters. The algorithm can be used to suppress bending modes having center frequencies as close as one octave above the control system gain cross-over frequency without introduction of the excessive phase loss associated with conventional lowpass filtering techniques. A third order model of the trident missile autopilot pitch attitude control loop is contaminated with two dynamic, destabilizing bending modes and used as a concept demonstration model. The algorithm is demonstrated by stabilizing the pitch attitude loop in the presence of two bending modes with unknown gains, damping, center frequencies and rates of change of center frequencies.

An overview and investigation of the more popular digital filter design techniques are presented, with the intent of providing the filter design engineer a complete and concise source of information. Advantages and disadvantages of the various techniques are discussed, and extensive design examples used to illustrate their application to specific design problems. Both IIR (Butterworth, Chebyshev and elliptic), and FIR (Fourier coefficient design, windows and frequency sampling) design methods are featured, as well as, the Optimum FIR Filter Design Program of Parks and McClellan, and the Minimum p - Error IIR Filter Design Method of Deczky.

A carefully designed controller, tuned to minimize a performance criterion based on representation of the added drag due to steering, can minimize propulsion losses. A computer simulation modeling the Sea-Land Mclean (SL-7) containership was coupled to a function minimization subroutine and a sea-state generator subroutine to accomplish the tuning. Storing these optimal controller parameters in a look up table as functions of ship state, sea state, and encounter angle, this technique can be used as an adaptive controller. Satellite platforms can give continuous environmental operating conditions which may be used to select proper controller parameters to provide continuous operation on a minimum of the cost function. The SL-7 containership computer model was tested in calm waters and in a seaway.

A need exists for a set of computer programs which could be used by students to solve elementary digital signal processing problems using a personal computer. This project involved the design and implementation of ten algorithms that solve such problems and an additional algorithms that creates plots of the various input and output sequences. The two primary goals of the programs were: 1) User friendliness, and, 2) Portability. With these goals in mind, the source code was written using FORTRAN-77 and compiled by a commercially available FORTRAN compiler specifically designed for personal computers. The plotting program uses a FORTRAN-compatible graphics package that is also commercially available. The programs, once compiled, can be distributed to users without the requirement to purchase either a FORTRAN compiler or a graphics package however, access to a FORTRAN compiler enhances the utility of the programs.

An example is given of the steps and calculations necessary to the synthesis of the discrete optimum controller and Kalman filter for the control of a linear, timeinvariant plant whose state is only partially observable. The plant is subject to random excitation, and the observables are contaminated by random measurement noise. The optimum control is a linear function of the best estimate of the system state variables. The controller gains are obtained from the steady-state solution of a set of recursion equations arising from a dynamic programming approach to the minimization of a quadratic index of performance. The optimum filter is essentially a model of the plant. The state of the model is the best current estimate of the state of the plant. The estimate is updated at each sampling instant by taking the difference between the observed state of the plant and the predicted state of the model. This difference vector is multiplied by a 'gain' matri to adjust the model. The elements of the filter gain matrix are obtained from the steady-state solution of a set of recursion equations developed by Kalman.

An automatic elevator controller for the final phase of an Instrument Landing System approach is designed using optimization theory and the practicality of the controller investigated. The problem is discussed and the assumptions stated. Then a mathe- matical model for the aircraft and a desired flare-out approach path are derived. The aircraft and approach limitations are established and the model is tested. Dynamic programming and the Parametric Expansion Method provide the optimal control from which the controller is designed. A computer program is developed to investigate the controller. The results are inconclusive and a recommendation for further study is made.

Advances in digital computer technology have led to employment of the computer as a control device. Although many theories for utilization of the digital computer as the compensator in a position feedback control system have been proposed, there is little documentation of digital control performance in a hardware environment. This thesis is an investigation of the performance of a real system under sampled-data control. The variable gain amplifier sampled-data control theory is first simulated and then tested on a real system. The hardware and software developments necessary for implementing this control theory are discussed in detail. Additionally, this method is incorporated in a time-sharing computer program for controlling many systems simultaneously from a single computer. Results of the tests are presented and evaluated.

This thesis presents an analysis of a nonlinear servomechanism,, The nonlinear control device is an electromechanical spring clutch designed by the Propeller Division of the Curtis s-Wright Corporation for use in both missiles and manned aircraft. A mathematical representation of the system is first derived. Then an analytic technique is presented which may be employed to predict such closed-loop response characteristics as gain, phase shift, and bandwidth. Investigations are made regarding both the absolute stability and the relative stability of the system, however, only limited conclusions are reached due to the lack of established stability criteria for a system of this type. Recommendations are made for further study of the stability of this system for the purpose of establishing such criteria. The ground work for this thesis, including the preliminary analysis and all of the equipment tests, was accomplished by the authors during the summer of I960 while on an industrial experience tour at the Missiles and Space Division of the Lockheed Aircraft Corporation, Sunnyvale, California. The authors are extremely grateful for having had the opportunity to do this work at Lockheed Missiles and Space Division, Particularly, appreciation is expressed to Mr. Fred A. Schupan of Lockheed, for his very able guidance and assistance throughout the conduct of the analysis. Appreciation is also expressed to Messrs. Richard Lawhorn, Kenneth Alder, and Charles Cox, of Lockheed, for their assistance on various aspects of this work. The authors gratefully acknowledge the advice and assistance given by Professor Robert D. Strum of the United States Naval Postgraduate School during the writing of this paper.

Root locus plots in the s plane are practically limited to a span of two decades. In problems where some poles are very close to the origin, while other poles or zeros are at very large values of s, sufficient resolution of the locus may not be available in two decades of the s plane. However, root loci can be plotted in the In s plane using as many decades as desired (and whichever are desired). Electro-Scientific Industries Corporation manufactures an analog computer, THE ESIAC, which constructs root locus plots in the In s plane. This paper presents a mathematical analysis of the In s plane, a simple method of plotting root loci in the In s plane, and several practical examples demonstrating the technique. Construction of root loci by this method requires the use of one template.

In this paper an investigation is made of the problem of estimating and predicting the states of a linear, discrete, time-invariant, dynamic process which is excited by Gaussian noise and where the observable states are disturbed by Gaussian measurement noise. The concepts of optimum filter design, originally developed by R. E. Kalman, are utilized. Also we have closed the loop on two illustrative examples by determining the optimal control for the plant as a function of the plant's state variables. Here the concepts of a cost performance index and dynamic programming (the latter originally developed by R. Bellman) are employed. The CDC 1604 digital computer, using Fortran 60 programming is utilized in the solution of the optimum filter-controller design.

An automatic elevator controller for the final phase of an Instrument Landing System approach is designed using optimization theory and the practicality of the controller investigated. The problem is discussed and the assumptions stated. Then a mathe- matical model for the aircraft and a desired flare-out approach path are derived. The aircraft and approach limitations are established and the model is tested. Dynamic programming and the Parametric Expansion Method provide the optimal control from which the controller is designed. A computer program is developed to investigate the controller. The results are inconclusive and a recommendation for further study is made., http://www.archive.org/details/derivationofauto00niel, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

This thesis is an introduction to the use of computer-aided design (CAD tools for the design of very large scale integrated circuits (VLSI). The techniques are described and a tutorial is given which illustrates their use in the computing environment at the Naval Postgraduate School. The CAD tools were applied to design a 16-bit fast pipelined adder., http://archive.org/details/vlsidesignofvery1094520032, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

An overview and investigation of the more popular digital filter design techniques are presented, with the intent of providing the filter design engineer a complete and concise source of information. Advantages and disadvantages of the various techniques are discussed, and extensive design examples used to illustrate their application to specific design problems. Both IIR (Butterworth, Chebyshev and elliptic), and FIR (Fourier coefficient design, windows and frequency sampling) design methods are featured, as well as, the Optimum FIR Filter Design Program of Parks and McClellan, and the Minimum p - Error IIR Filter Design Method of Deczky., http://archive.org/details/digitalfilterdes1094523177, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

A simple, microprocessor oriented algorithm is developed to identify, track and suppress bending mode signals from a control system's rate and position feedback signals using adaptive digital notch filters. The algorithm can be used to suppress bending modes having center frequencies as close as one octave above the control system gain cross-over frequency without introduction of the excessive phase loss associated with conventional lowpass filtering techniques. A third order model of the trident missile autopilot pitch attitude control loop is contaminated with two dynamic, destabilizing bending modes and used as a concept demonstration model. The algorithm is demonstrated by stabilizing the pitch attitude loop in the presence of two bending modes with unknown gains, damping, center frequencies and rates of change of center frequencies., http://archive.org/details/adaptivenotchfil1094518917, Commander, United States Navy, Approved for public release; distribution is unlimited.

A need exists for a set of computer programs which could be used by students to solve elementary digital signal processing problems using a personal computer. This project involved the design and implementation of ten algorithms that solve such problems and an additional algorithms that creates plots of the various input and output sequences. The two primary goals of the programs were: 1) User friendliness, and, 2) Portability. With these goals in mind, the source code was written using FORTRAN-77 and compiled by a commercially available FORTRAN compiler specifically designed for personal computers. The plotting program uses a FORTRAN-compatible graphics package that is also commercially available. The programs, once compiled, can be distributed to users without the requirement to purchase either a FORTRAN compiler or a graphics package however, access to a FORTRAN compiler enhances the utility of the programs., http://archive.org/details/acomputerprogram1094522975, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

Active damping of modal oscillation is critical to the success of future versions of Space Station Freedom. Vibratory motion may be induced by external disturbances such as solar and gravity gradient torques, extra vehicular and experimental activity, aerodynamic forces, the earth's magnetic field, and space shuttle docking. Linear proof mass actuators can provide control on the space station to achieve this damping effect. Two control algorithms, Linear Quadratic Gaussian control and H∞ control are applied to a model of Space Station Freedom. The results compare the robustness, stability, and performance of the Space Station under the effects of each of the two control algorithms., http://archive.org/details/activedampingofv1094526344, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.

A carefully designed controller, tuned to minimize a performance criterion based on representation of the added drag due to steering, can minimize propulsion losses. A computer simulation modeling the Sea-Land Mclean (SL-7) containership was coupled to a function minimization subroutine and a sea-state generator subroutine to accomplish the tuning. Storing these optimal controller parameters in a look up table as functions of ship state, sea state, and encounter angle, this technique can be used as an adaptive controller. Satellite platforms can give continuous environmental operating conditions which may be used to select proper controller parameters to provide continuous operation on a minimum of the cost function. The SL-7 containership computer model was tested in calm waters and in a seaway., http://archive.org/details/optimizationofgu1094519485, Lieutenant, United States Navy, Approved for public release; distribution is unlimited.