تقنية التحكم الآلي عملي

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א א א אא א٠ Essrae1568 W א א א א אאא א א אא

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Page 1: تقنية التحكم الآلي عملي

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Page 2: تقنية التحكم الآلي عملي

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Page 5: تقنية التحكم الآلي عملي

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Page 6: تقنية التحكم الآلي عملي

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Page 8: تقنية التحكم الآلي عملي

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Page 11: تقنية التحكم الآلي عملي

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Page 12: تقنية التحكم الآلي عملي

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Page 13: تقنية التحكم الآلي عملي

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Page 14: تقنية التحكم الآلي عملي

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Page 15: تقنية التحكم الآلي عملي

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Page 17: تقنية التحكم الآلي عملي

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Page 18: تقنية التحكم الآلي عملي

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Page 19: تقنية التحكم الآلي عملي

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Page 20: تقنية التحكم الآلي عملي

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Page 21: تقنية التحكم الآلي عملي

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Page 22: تقنية التحكم الآلي عملي

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Page 23: تقنية التحكم الآلي عملي

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Page 24: تقنية التحكم الآلي عملي

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Page 25: تقنية التحكم الآلي عملي

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Page 26: تقنية التحكم الآلي عملي

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Page 27: تقنية التحكم الآلي عملي

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–؟אאאא

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JאאאאאKp؟ KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

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Page 28: تقنية التحكم الآلي عملي

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Page 29: تقنية التحكم الآلي عملي

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Page 30: تقنية التحكم الآلي عملي

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Page 41: تقنية التحكم الآلي عملي

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Page 42: تقنية التحكم الآلي عملي

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Page 43: تقنية التحكم الآلي عملي

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Page 44: تقنية التحكم الآلي عملي

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Page 45: تقنية التحكم الآلي عملي

אא

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אא א Modern Control System R. C. Dorf, Edison Wesley, 1990

Control System Design C. T. Chen, Saunders College Publishing, 1993

Feedback Control System, John Van De Vegta, Prentice Hall, 1990

Automatic Control Systems B. Kuo, Prentice Hall

Johnson, C. D. Process Control

Instrumentation Technology,

Prentice Hall, 2002

Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall, 2002

Ogata, K. Modern control Engineering,

Prentice Hall, 1997

Dorf, R. C. and Bishop, R. H. Modern

Control Systems, Addisson Wesley, 1998

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