Chapter 1 Systems Study 1
1.1 General Definitions 1
1.2 Positioning of the Studies 6
1.3 Functional Analysis Tools 6
1.4 Position of the Engineering Studies 18
Chapter 2 Linear Continuous-Time Time-Invariant Systems 21
2.1 History of Automation Control 21
2.2 Modeling 26
2.3 Hypotheses Related to the Studies 31
2.4 Performances 38
2.5 Mathematical Tools 46
2.6 Transfer Function 59
2.7 Block Diagram 60
2.8 Time Response 70
2.9 Frequency Response 99
2.10 Conclusions and Perspectives 123
Chapter 3 Kinematics of Systems of Solid Bodies 124
3.1 Mathematical Tools 124
3.2 Setting 130
3.3 General Definitions 139
3.4 The Twist （or Kinematic Screw） 141
3.5 Composition of Acceleration Vectors 158
3.6 Kinematics of Contacts 161
3.7 Case of Plane Problems 163
3.8 Graphical Constructions 165
3.9 Conclusions and Perspectives 167
Chapter 4 Modeling of Mechanical Actions 169
4.1 Notion of Mechanical Action（Effort and Moment） 169
4.2 The Wrench （or Screw of Mechanical Actions） 171
4.3 Modeling of Friction 179
4.4 Conclusions and Perspectives 188
Chapter 5 Fundamental Principle of Equilibrium for Sets of Rigid Solid Bodies Sollicited by Mechanical Actions 189
5.1 Fundamental Principle of Equilibrium 189
5.2 Case of Plane Problems 197
5.3 Overcenter Devices 199
5.4 Conclusions and Perspectives 201
Chapter 6 Chains of Solid Bodies 203
6.1 Definition of a Kinematic Pair between Two Solid Bodies 203
6.2 Link Graph 215
6.3 Kinematic Diagram 219
6.4 Kinematically Equivalent Pairs 220
6.5 Analysis of Simple Chains 226
6.6 Conclusions and Perspectives 232
Chapter 7 Combinatorial Analysis and Counting 233
7.1 Numbering and Coding Systems 233
7.2 Boolean Logic 246
7.3 Application to FPGA and Pneumatic Systems 266
Chapter 8 Modeling of the Sequencing of Operations 270
8.1 Principle of a Sequential Evolution 270
8.2 Description Tools 273
8.3 Practical Applications 285