Automating manufacturing systems with PLCs

This is a manuscript for a PLC based control system book that is currently being used for teaching an undergraduate controls course - Manufacturing Controls. The course and book focus on the Allen Bradley family of controllers, thus allowing a deeper topic coverage than is normal in PLC books.
Control systems apply artificial means to change the behavior of a system. The type of control problem often determines the type of control system that can be used. Each controller will be designed to meet a specific objective.
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