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Contrast-Enhanced Ultrasound: From Simple to Complex
by Alexander N. Sencha Yury N. PatrunovThis book provides a comprehensive analysis of the value of contrast-enhanced ultrasound (CEUS) in the diagnosis of a wide variety of pathologies. Sonography reliably identifies a wide range of diseases, and the efficacy of modern ultrasound has dramatically improved with contrast enhancement. This book covers almost all aspects of CEUS starting from basic principles and ending with features of its application in individual organs. In particular, it explores the diseases of abdominal, retroperitoneal, and pelvic organs as well as superficial structures, highlighting the characteristic features of typical findings. Focal lesions are discussed in depth, with attention to their early detection and differential diagnosis. Besides, a practical approach to the stratification of the risk of malignancies is provided. The authors summarized their own experience with CEUS in oncology, hepatology, gynecology, urology, endocrinology, and other fields of medicine. The role of CEUS in differential diagnosis of various disorders of the female reproductive system is comprehensively discussed as well. The presentation is clear and concise, and richly illustrated. The book will be a helpful tool for both residents and practitioners approaching ultrasound diagnostics, as well for more experienced radiologists and other professionals.
Contrast-Enhanced Ultrasound in Pediatric Imaging
by Paul S. Sidhu Maria E. Sellars Annamaria DeganelloThis book is a comprehensive guide to the rapidly evolving field of contrast-enhanced ultrasound (CEUS) in the child. The uses and interpretation of CEUS are clearly explained with the aid of numerous illustrations. The coverage encompasses both established indications, such as focal liver lesions, abdominal solid organ injury, and vesicoureteral reflux, and a range of newer applications. Extensive information is also provided on microbubble agents and their use in the pediatric age group, as well as on practical aspects of setting up a CEUS service for children.CEUS is a safe imaging method that is ideal for the young patient and can be used for problem solving in a number of clinical situations. Ultrasound combined with microbubble contrast avoids the ionizing radiation of a CT examination, the use of iodinated contrast, the need for sedation or a general anesthetic, and the complexities of MR imaging. In bringing readers up to date with best practice and the latest innovations in CEUS, this book will be of value for pediatric radiologists, pediatric sonographers/technicians, and pediatricians.
Contrast-Enhanced Ultrasound of the Urinary Tract
by Maurizio Atzori Giovanni Regine Romano FabbriThis book examines in detail the diagnostic impact of contrast-enhanced ultrasound in the evaluation of urinary tract pathology, paying particular attention to the diagnostic gain that may be expected in relation to other imaging techniques such as CT and MRI. The role of contrast-enhanced ultrasound is evaluated in a range of pathologies, including ischemia, trauma, inflammation, cystic lesions, and solid tumors, as well as in the imaging of anatomic variants. New applications, for example monitoring of kidney transplantation, assessment of urinary bladder lesions, and diagnosis of vesico-ureteric reflux, are also covered. The presented cases, drawn from the authors' personal clinical caseload, include images obtained using multimodality techniques, sometimes with 3D CT reconstruction. The authors' own experiences are compared with the most recent reports in the scientific literature.
Contrast Techniques in Light Microscopy
by S. Bradbury and P.J. EvennettContrast in an image is essential to distinguish features from one another and from the background. This practical handbook describes the ways in which light interacts with the specimen in the microscope.
Contribución de los ingenieros de caminos catalanes al progreso de España
by Fernando Sáenz RidruejoEste libro atesora algunas de las aportaciones más importantes a la Ingeniería de Caminos de nuestro país y da a conocer a sus geniales artífices. «Las obras públicas son realidades muy complejas que pueden determinar la prosperidad o la ruina de comarcas enteras.» Las palabras de Sáenz Ridruejo quedan reflejadas en este elaborado compendio biográfico del que emana un gran respeto por la profesión y por los compañeros con quienes la comparte. Fruto de una rigurosa investigación, este libro llega de la mano del historiador de los ingenieros de Caminos por excelencia y aporta un detallado testimonio de las contribuciones catalanas al progreso de la casa y de la causa común, ingenios que han facilitado y que facilitan a diario nuestra movilidad, nuestra comodidad y, en definitiva, nuestras vidas.
The Contribution of Universities Towards Education for Sustainable Development (World Sustainability Series)
by Walter Leal Filho Thais Dibbern Salvador Ruiz de Maya María-del-Carmen Alarcón-del-Amo Longinos Marin RivesThe book gathers inputs from universities and research organizations working on matters related to sustainable development in a variety of contexts. It also provides a platform for the dissemination of information on the latest initiatives, paving the way for technology transfer and networking. Furthermore, the book intends to provide a fertile basis upon which universities may cooperate more closely in this key area. Universities, as centers of education, research, and innovation, have a unique position and responsibility in promoting sustainability. They can offer degree programs, courses, and workshops focused on sustainability, environmental studies, and related fields, educating students and the wider community about the principles and challenges of sustainability. Also, universities can conduct cutting-edge research to address sustainability challenges, such as climate change, resource depletion, and biodiversity loss. They can develop innovative technologies and solutions that promote sustainable practices in various sectors, including energy, agriculture, transportation, and urban planning. There is a perceived need to better understand and engage universities further on sustainability initiatives. Against this backdrop and in order to facilitate a broad discussion on the contribution of universities toward sustainability, this book is being produced.Last but not least, a further aim of the book is to present methodological approaches and experiences deriving from case studies and projects, which aim to show how sustainability may be incorporated as part of university programs.
Contributions to Advanced Dynamics and Continuum Mechanics (Advanced Structured Materials #114)
by Holm Altenbach Hans Irschik Valery P. MatveenkoThe book celebrates the 65th birthday of Prof. Alexander K. Belyaev—a well-known expert in the field of Dynamics of Mechanical Systems. In addition to reflecting Prof. Belyaev’s contributions, the papers gathered here address a range of current problems in Dynamics and Continuum Mechanics. All contributions were prepared by his friends and colleagues, and chiefly focus on theory and applications.
Contributions to Higher Engineering Education
by Eva Virgínia Araújo Morais Gustavo R. Alves Maria M. NascimentoThe book focuses on teaching knowledge and principles (Higher Education) regarding professional practice of engineering (life and lifelong learning). It covers recent developments in engineering education. This book comprises the select proceedings of the conference organised by the Portuguese Society for Engineering Education. This book goes beyond the examination of the economic, culture, and social factors, which influence the education of engineers in different higher education institutions, and encompasses critical thinking and problem solving, communication, collaboration and creativity and innovation. These are essential components of engineering education. The contents of this book are useful to researchers and professionals engaged in the re-engineering of engineering education.
Contributions to Networked and Event-Triggered Control of Linear Systems (Springer Theses)
by María Guinaldo LosadaThis book reports on a set of new techniques for resolving current issues in networked control systems. The main focus is on strategies for event-based control, for both centralized and decentralized architectures. The first part of the book addresses the problem of single-loop networked control systems and proposes an anticipative remote controller for dealing with delays and packet losses. The second part of the book proposes a distributed event-based control strategy for networked dynamical systems, which has been implemented in a test-bed of mobile robots, and provides readers with a thorough description of an interactive simulator used to validate the results. This thesis, examined at the Universidad Nacional de Educación a Distancia in 2013, received the award for best thesis in control engineering from the Control Engineering group of the Spanish Committee of Automatic Control in 2015.
Contributions to Partial Differential Equations and Applications (Computational Methods in Applied Sciences #47)
by O. Pironneau J. Periaux P. Neittaanmäki Y. A. Kuznetsov W. Fitzgibbon B. N. ChetverushkinThis book treats Modelling of CFD problems, Numerical tools for PDE, and Scientific Computing and Systems of ODE for Epidemiology, topics that are closely related to the scientific activities and interests of Prof. William Fitzgibbon, Prof. Yuri Kuznetsov, and Prof. O. Pironneau, whose outstanding achievements are recognised in this volume. It contains 20 contributions from leading scientists in applied mathematics dealing with partial differential equations and their applications to engineering, ab-initio chemistry and life sciences. It includes the mathematical and numerical contributions to PDE for applications presented at the ECCOMAS thematic conference "Contributions to PDE for Applications" held at Laboratoire Jacques Louis Lions in Paris, France, August 31- September 1, 2015, and at the Department of Mathematics, University of Houston, Texas, USA, February 26-27, 2016. This event brought together specialists from universities and research institutions who are developing or applying numerical PDE or ODE methods with an emphasis on industrial and societal applications. This volume is of interest to researchers and practitioners as well as advanced students or engineers in applied and computational mathematics. All contributions are written at an advanced scientific level with no effort made by the editors to make this volume self-contained. It is assumed that the reader is a specialist already who knows the basis of this field of research and has the capability of understanding and appreciating the latest developments in this field.
control
by Lydia KangFor fans of Uglies comes a spiraling, intense sci fi thriller."Control blew me away. The twists and turns and suspense made for a thrilling ride. Zel is as authentic a character as I've read in a very long time. Highly recommended" - James Dashner, New York Times bestselling author of The Maze RunnerSet in 2150 -- in a world of automatic cars, nightclubs with auditory ecstasy drugs, and guys with four arms -- this is about the human genetic "mistakes" that society wants to forget, and the way that outcasts can turn out to be heroes.When their overprotective father is killed in a terrible accident, Zel and her younger sister, Dylia, are lost in grief. But it's not until strangers appear, using bizarre sensory weapons, that the life they had is truly eviscerated. Zel ends up in a safe house for teens that aren't like any she's ever seen -- teens who, by law, shouldn't even exist. One of them -- an angry tattooed boy haunted by tragedy -- can help Zel reunite with her sister.But only if she is willing to lose him.
control
by Lydia KangFor fans of Uglies comes a spiraling, intense sci fi thriller. "Control blew me away. The twists and turns and suspense made for a thrilling ride. Zel is as authentic a character as I've read in a very long time. Highly recommended" - James Dashner, New York Times bestselling author of The Maze Runner Set in 2150 -- in a world of automatic cars, nightclubs with auditory ecstasy drugs, and guys with four arms -- this is about the human genetic "mistakes" that society wants to forget, and the way that outcasts can turn out to be heroes. When their overprotective father is killed in a terrible accident, Zel and her younger sister, Dylia, are lost in grief. But it's not until strangers appear, using bizarre sensory weapons, that the life they had is truly eviscerated. Zel ends up in a safe house for teens that aren't like any she's ever seen -- teens who, by law, shouldn't even exist. One of them -- an angry tattooed boy haunted by tragedy -- can help Zel reunite with her sister. But only if she is willing to lose him.
Control: The Dark History and Troubling Present of Eugenics
by Adam Rutherford* FROM THE SUNDAY TIMES BESTSELLING AUTHOR OF HOW TO ARGUE WITH A RACIST *Throughout history, people have sought to improve society by reducing suffering, eliminating disease or enhancing desirable qualities in their children. But this wish goes hand in hand with the desire to impose control over who can marry, who can procreate and who is permitted to live. In the Victorian era, in the shadow of Darwin's ideas about evolution, a new full-blooded attempt to impose control over our unruly biology began to grow in the clubs, salons and offices of the powerful. It was enshrined in a political movement that bastardised science, and for sixty years enjoyed bipartisan and huge popular support. Eugenics was vigorously embraced in dozens of countries. It was also a cornerstone of Nazi ideology, and forged a path that led directly to the gates of Auschwitz. But the underlying ideas are not merely historical. The legacy of eugenics persists in our language and literature, from the words 'moron' and 'imbecile' to the themes of some of our greatest works of culture. Today, with new gene editing techniques, very real conversations are happening - including in the heart of British government - about tinkering with the DNA of our unborn children, to make them smarter, fitter, stronger. CONTROL tells the story of attempts by the powerful throughout history to dictate reproduction and regulate the interface of breeding and society. It is an urgently needed examination that unpicks one of the defining and most destructive ideas of the twentieth century. To know this history is to inoculate ourselves against its being repeated.
Control: The Dark History and Troubling Present of Eugenics
by Adam RutherfordThroughout history, people have sought to improve society by reducing suffering, eliminating disease or enhancing desirable qualities in their children. But this wish goes hand in hand with the desire to impose control over who can marry, who can procreate and who is permitted to live. In the Victorian era, in the shadow of Darwin's ideas about evolution, a new full-blooded attempt to impose control over our unruly biology began to grow in the clubs, salons and offices of the powerful. It was enshrined in a political movement that bastardised science, and for sixty years enjoyed bipartisan and huge popular support. Eugenics was vigorously embraced in dozens of countries. It was also a cornerstone of Nazi ideology, and forged a path that led directly to the gates of Auschwitz. But the underlying ideas are not merely historical. The legacy of eugenics persists in our language and literature, from the words 'moron' and 'imbecile' to the themes of some of our greatest works of culture. Today, with new gene editing techniques, very real conversations are happening - including in the heart of British government - about tinkering with the DNA of our unborn children, to make them smarter, fitter, stronger. CONTROL tells the story of attempts by the powerful throughout history to dictate reproduction and regulate the interface of breeding and society. It is an urgently needed examination that unpicks one of the defining and most destructive ideas of the twentieth century. To know this history is to inoculate ourselves against its being repeated.
Control: The Dark History And Troubling Present Of Eugenics
by Adam RutherfordHow did an obscure academic idea pave the way to the Holocaust within just fifty years? Control is a book about eugenics, what geneticist Adam Rutherford calls “a defining idea of the twentieth century.” Inspired by Darwin’s ideas about evolution, eugenics arose in Victorian England as a theory for improving the British population, and quickly spread to America, where it was embraced by presidents, funded by Gilded Age monopolists, and enshrined into racist American laws that became the ideological cornerstone of the Third Reich. Despite this horrific legacy, eugenics looms large today as the advances in genetics in the last thirty years—from the sequencing of the human genome to modern gene editing techniques—have brought the idea of population purification back into the mainstream. Eugenics has “a short history, but a long past,” Rutherford writes. The first half of Control is the history of an idea, from its roots in key philosophical texts of the classical world all the way into their genocidal enactment in the twentieth century. The second part of the book explores how eugenics operates today, as part of our language and culture, as part of current political and racial discussions, and as an eternal temptation to powerful people who wish to improve society through reproductive control. With disarming wit and scientific precision, Rutherford explains why eugenics still figures prominently in the twenty-first century, despite its genocidal past. And he confronts insidious recurring questions—did eugenics work in Nazi Germany? And could it work today?—revealing the intellectual bankruptcy of the idea, and the scientific impossibility of its realization.
Control and Filtering for Semi-Markovian Jump Systems (Studies in Systems, Decision and Control #81)
by Peng Shi Ligang Wu Fanbiao LiThis book presents up-to-date research developments and novel methodologies on semi-Markovian jump systems (S-MJS). It presents solutions to a series of problems with new approaches for the control and filtering of S-MJS, including stability analysis, sliding mode control, dynamic output feedback control, robust filter design, and fault detection. A set of newly developed techniques such as piecewise analysis method, positively invariant set approach, event-triggered method, and cone complementary linearization approaches are presented. Control and Filtering for Semi-Markovian Jump Systems is a comprehensive reference for researcher and practitioners working in control engineering, system sciences and applied mathematics, and is also a useful source of information for senior undergraduates and graduates in these areas. The readers will benefit from some new concepts, new models and new methodologies with practical significance in control engineering and signal processing.
Control and Filtering of Fuzzy Systems Under Communication Channels
by Xiao-Heng Chang Jun Xiong Zhi-Min Li Bo WuThis book systematically studies the feedback control and filtering problems for nonlinear plants with limited communication channels based on T-S fuzzy models. By fully considering different network-induced phenomena, such as signal quantizations, time-delays, data packet dropouts, communication protocols, cyber attacks, and so on, some significant strategies are provided for various performance analysis and different controller/filter synthesis of fuzzy systems. The event-triggered mechanism is also mentioned to save the communication resource. Moreover, some results are extended to the fault detection and fault-tolerant control. The book provides some new methodologies in analysis and synthesis of fuzzy systems under communication channels, and can serve as a valuable reference material for researchers wishing to explore the area of control and filtering of fuzzy systems and networked systems.
Control and Filtering of Fuzzy Systems with Switched Parameters (Studies in Systems, Decision and Control #268)
by Shanling Dong Zheng-Guang Wu Peng ShiThis book presents recent advances in control and filter design for Takagi-Sugeno (T-S) fuzzy systems with switched parameters. Thanks to its powerful ability in transforming complicated nonlinear systems into a set of linear subsystems, the T-S fuzzy model has received considerable attention from those the field of control science and engineering. Typical applications of T-S fuzzy systems include communication networks, and mechanical and power electronics systems. Practical systems often experience abrupt variations in their parameters or structures due to outside disturbances or component failures, and random switching mechanisms have been used to model these stochastic changes, such as the Markov jump principle. There are three general types of controller/filter for fuzzy Markov jump systems: mode-independent, mode-dependent and asynchronous. Mode-independence does not focus on whether modes are accessible and ignores partially useful mode information, which results in some conservatism. The mode-dependent design approach relies on timely, complete and correct information regarding the mode of the studied plant. Factors like component failures and data dropouts often make it difficult to obtain exact mode messages, which further make the mode-dependent controllers/filters less useful. Recently, to overcome these issues, researchers have focused on asynchronous techniques. Asynchronous modes are accessed by observing the original systems based on certain probabilities. The book investigates the problems associated with controller/filter design for all three types. It also considers various networked constraints, such as data dropouts and time delays, and analyzes the performances of the systems based on Lyapunov function and matrix inequality techniques, including the stochastic stability, dissipativity, and $H_\infty$. The book not only shows how these approaches solve the control and filtering problems effectively, but also offers potential meaningful research directions and ideas. Covering a variety of fields, including continuous-time and discrete-time Markov processes, fuzzy systems, robust control, and filter design problems, the book is primarily intended for researchers in system and control theory, and is also a valuable reference resource for graduate and undergraduate students. Further, it provides cases of fuzzy control problems that are of interest to scientists, engineers and researchers in the field of intelligent control. Lastly it is useful for advanced courses focusing on fuzzy modeling, analysis, and control.
Control and Inverse Problems: The 2022 Spring Workshop in Monastir, Tunisia (Trends in Mathematics)
by Kaïs Ammari Chaker Jammazi Faouzi TrikiThis volume presents a timely overview of control theory and inverse problems, and highlights recent advances in these active research areas. The chapters are based on talks given at the spring school "Control & Inverse Problems” held in Monastir, Tunisia in May 2022. In addition to providing a snapshot of these two areas, chapters also highlight breakthroughs on more specific topics, such as: Controllability of dynamical systems Information transfer in multiplier equations Nonparametric instrumental regression Control of chained systems The damped wave equation Control and Inverse Problems will be a valuable resource for both established researchers as well as more junior members of the community.
Control and Monitoring of Chemical Batch Reactors (Advances in Industrial Control)
by Vincenzo Tufano Francesco Pierri Fabrizio Caccavale Mario IamarinoThe Chemical Batch Reactor is aimed at tackling the above problems from a blending of academic and industrial perspectives. Advanced solutions (i.e., those based on recent research results) to the four fundamental problems of modeling, identification, control and fault diagnosis for batch processes are developed in detail in four distinct chapters. In each chapter, a general overview of foundational concepts is also given, together with a review of recent and classical literature on the various subjects. To provide a unitary treatment of the different topics and give a firm link to the underlying practical applications, a single case study is developed as the book progresses; a batch process of industrial interest, i.e., the phenol-formaldehyde reaction for the production of phenolic resins, is adopted to test the various techniques developed. In this way, a roadmap of the solutions to fundamental problems, ranging from the early stages of the production process to the complete design of control and diagnosis systems, is provided for both industrial practitioners and academic researchers.
Control and Safety Analysis of Intensified Chemical Processes
by Gade Pandu Rangaiah Dipesh Shikchand PatleControl and Safety Analysis of Intensified Chemical Processes Resource on the control and safety analysis of intensified chemical processes, ranging from general methods to specific applications Control and Safety Analysis of Intensified Chemical Processes covers the basic principles of and recent developments in control and safety analysis of intensified chemical processes, ranging from dynamic simulations and safety analysis to the design and control of important processes. The text discusses general methods and tools such as dynamic simulation, control and safety analysis as well as design aspects and analysis of important applications in order to provide scientists and engineers with an understanding of the design, control and safety considerations involved in intensified chemical processes. Sample topics covered in Control and Safety Analysis of Intensified Chemical Processes include: Simulation and optimization methods, common programs and simulators for simulation and optimization, and interfacing of simulators and optimizers Programs/simulators for dynamic simulation and control, tuning of controllers, and popular criteria for control assessment Control of a hybrid reactive-extractive distillation systems for ternary azeotropic mixtures, reactive distillation in recycle systems, and middle vessel batch distillation with vapor recompression Safety analysis of intensified processes (e.g. extractive distillation, dividing wall column, dividing wall column with mechanical vapor recompression, and algal biodiesel process) A comprehensive resource on the subject, Control and Safety Analysis of Intensified Chemical Processes is a highly valuable reference for researchers, students and practitioners interested in process intensification and their applications. The text can be adopted by instructors for use in advanced courses on process control and safety.
Control and System Theory of Discrete-Time Stochastic Systems (Communications and Control Engineering)
by Jan H. van SchuppenThis book helps students, researchers, and practicing engineers to understand the theoretical framework of control and system theory for discrete-time stochastic systems so that they can then apply its principles to their own stochastic control systems and to the solution of control, filtering, and realization problems for such systems. Applications of the theory in the book include the control of ships, shock absorbers, traffic and communications networks, and power systems with fluctuating power flows.The focus of the book is a stochastic control system defined for a spectrum of probability distributions including Bernoulli, finite, Poisson, beta, gamma, and Gaussian distributions. The concepts of observability and controllability of a stochastic control system are defined and characterized. Each output process considered is, with respect to conditions, represented by a stochastic system called a stochastic realization. The existence of a control law is related to stochastic controllability while the existence of a filter system is related to stochastic observability. Stochastic control with partial observations is based on the existence of a stochastic realization of the filtration of the observed process.
Control, Computer Engineering and Neuroscience: Proceedings of IC Brain Computer Interface 2021 (Advances in Intelligent Systems and Computing #1362)
by Szczepan PaszkielThis book presents the proceedings of the 4th International Scientific Conference IC BCI 2021 Opole, Poland. The event was held at Opole University of Technology in Poland on 21 September 2021. Since 2014, the conference has taken place every two years at the University’s Faculty of Electrical Engineering, Automatic Control and Informatics. The conference focused on the issues relating to new trends in modern brain–computer interfaces (BCI) and control engineering, including neurobiology–neurosurgery, cognitive science–bioethics, biophysics–biochemistry, modeling–neuroinformatics, BCI technology, biomedical engineering, control and robotics, computer engineering and neurorehabilitation–biofeedback.
Control Design of Multiagent Discrete-Time Systems (Studies in Systems, Decision and Control #387)
by MagdiSadek Mahmoud Bilal J. KarakiThis book describes an effective approach to the cooperative and coordinated control of multivehicle systems. This rigorous analytic approach guarantees the stability of coordinated and cooperating vehicles using distributed protocols and uses low-energy, event-triggered mechanisms for networked vehicle control. The text covers: design of a cooperative protocol to achieve consensus for multivehicle systems, allowing cooperation that is resistant to the effects of packet loss and/or adversarial attack; analysis and synthesis of an event-triggering mechanism for cooperative multivehicle systems over uncertain networks; and the problem of distributed leader-following consensus and methods for compelling multivehicle systems to reach consensus. Throughout the book, cooperation problems are transformed into stability problems. Lyapunov theory is used to guarantee cooperation among agents. The distributed approach is applied to triggering mechanisms, the cooperation process, and the impact of cyber-attacks. Discrete-time analysis shows how the event-based structure can be designed to match the performance of continuous-time counterparts. The book details applications and computer simulation with several practical examples. This book is of interest to a wide audience from the graduate student, through the academic researcher to the industrial practitioner, all of them sharing a common interest in the stability and security of multiagent systems.
Control Engineering: From The Basics To The Applications (Advanced Textbooks in Control and Signal Processing)
by László Keviczky Ruth Bars Jenő Hetthéssy Csilla BányászThis book offers fundamental information on the analysis and synthesis of continuous and sampled data control systems. It includes all the required preliminary materials (from mathematics, signals and systems) that are needed in order to understand control theory, so readers do not have to turn to other textbooks. Sampled data systems have recently gained increasing importance, as they provide the basis for the analysis and design of computer-controlled systems. Though the book mainly focuses on linear systems, input/output approaches and state space descriptions are also provided. Control structures such as feedback, feed forward, internal model control, state feedback control, and the Youla parameterization approach are discussed, while a closing section outlines advanced areas of control theory. Though the book also contains selected examples, a related exercise book provides Matlab/Simulink exercises for all topics discussed in the textbook, helping readers to understand the theory and apply it in order to solve control problems. Thanks to this combination, readers will gain a basic grasp of systems and control, and be able to analyze and design continuous and discrete control systems.