This is stock number 2-0-T55A. We are here at Summit Automotive in Fond du Lac, Wisconsin, near New and used RAM and light-duty truck headquarters. Today we are checking out this super clean 2020 RAM 1500 crew cab long box, 6 foot 4 inch short long box on this one. This is a limited package. It has been fully safety and inspected by our service shop as a fresh oil and filter change. All the fluids have been checked and topped off and this truck is 100% ready to go. It has the 5.7 liter V8 Hemi motor with the e-torque assist. Diamond black is the color. We shoot all of our videos in 1080p, 60 frames per second. So if you have HD capabilities on your computer tablet or smartphone device, turn them on right now because it is definitely your best way to check out the quality and condition of the vehicle before seeing it in person. And if you'd like to check out all the photos on this RAM in the upper right hand part of your screen is a link to our website. Click that and check us out there. It comes with the 22 inch granite crystal painted alloy rims and it has Goodyear Eagle 285 45R22 tires with probably about 60-70% of the tread left on them. It does have the four-corner air suspension. There's part of that system right there. Front fender is in excellent shape. I didn't see any dents or dings on that. It comes with the LED headlamps, LED running lights and LED fog lamps. You do get that front bumper parking sensors on there as well. This one has I believe the 360 camera view on it. Painted front bumpers with the limited package. The hood is in excellent shape. I didn't see any dents or dings on there. You get the blacked out grille, passenger side front fender, no dents or dings on there, and the passenger side rim, no scuffs or scrapes. As you go down this side of the vehicle, take note of how clean the body is, how reflective and mirror like that paint is. We take these HD videos so if you are far away or even if you're close by and just cannot make the trip down, you can still see the truck here, the truck and have confidence in the vehicle that you're looking at before you even get here so that when you do get here, there's absolutely no surprises. That is why we offer the Summit Auto Fastpass option in the upper right hand part of your screen. They link right to our website where you can apply for financing, get pre-approved, see a payment quote, even appraise a trade all from the comfort of your own home. When you get here, all you've got to do is drive the truck, love it. You'll be all set to go. Back rim, no scuffs or scrapes on that, and the back tires have just as much tread as those front tires. You do get the plastic wheel well liners, which keeps your frame and underbody on the truck looking good. It does have the power step bars, all the lower rockers look great. I didn't see a single dent or ding down the side of the vehicle here. You do get the bed rail covers on all the rams, LED tail lamps, rear bumper is in excellent shape. I think this is a night edition with the limited package here.  You get a very nice spring and bed liner, you get the bed rail storage system with the tie down cleats, and it does have the LED bed lighting in it. Spraying bed liner and the bed itself are in excellent shape, and that tailgate shuts nice and solidly. As you go down the driver's side, just as clean as that passenger's side, no dents or dings on the box. For full disclosure, this back rim is in excellent shape as well, no scuffs or scrapes. It does have the capitalist fuel fill, which is a really nice feature. You never get gas on your hands, and you can really see that metal flake in the paint if you turn your HD capabilities on. Doors look really good.   You get the gray piping, the special stitching. Looks really good. Both these seats are heated and cooled, memory driver's seat, limited all-weather formats, auto headlamps, get the Harman Kardon sound system, power windows, power locks, power mirrors. You get the nice bolsters and stitching and woodgrain on the doors and memory driver's seat. Inside the vehicle here you can see that this one has 11,754 miles. You do get that limited animation, the limited instrument cluster, and then you get the 7-inch LCD display with the digital speedometer, compass, battery life, or battery charge, I should say, oil temp, and you can put, you get range to empty, you can put miles per gallon or trailer break gain or whatever you want to put in those corners. It's all configurable, and you do get that digital speedometer. You get the heated leather wrapped and woodgrain trim steering wheel cruise controls, adaptive cruise controls, gear selector, Bluetooth and information center controls, and audio controls on the back of the steering wheel. This one does come with the 12-inch Uconnect 4C radio, AM, FM, and Sirius XM radio capabilities on here. You get the big 12-inch screen, factory navigation, climate controls up here. You can do your heated seats, cooled seat buttons here, as well as your backup camera, and that backup camera is HD. You can do a close view, wide view, wide view of the front, narrow view of the front, just check out the normal backup camera. You can zoom in on your receiver hitch so you get hooked up to your trailer boat or camper the first time every time, lane departure warning, perpendicular and parallel park assist, Harman Kardon sound system, just a ton of stuff you can do with this radio, and we could spend all day checking it out, and you do get that surround view camera, which is pretty cool, and as you turn those grid lines, it actually will like turn the truck and show you where you're going to be heading, which is pretty cool too. Other stuff on this radio, besides the nav, you can do your climate controls here, or you can do your climate controls on the side of the radio. You also have your projection manager where you can project your cell phone to the screen, so if you've got Waze or Google Maps on your cell phone and have Android Auto or Apple CarPlay, you can project it to the screen and use a different navigation system if you like that, or you can play music and media through the radio and control it through there as well. We actually did a demo on an 8.4 if you want to check that out, it's in the upper right hand part of your screen. Factory brake controller, here's your auto leveling suspension, you can raise the height of the truck or lower the height of the truck. Stability control, tow haul mode, front and rear parking sensors, USBs, two USB C's, and an August jack. You get the RAM charger for your wireless cell phone charge pad, and then you do get a 115 volt 400 watt plug-in. Keyless entry with the remote start, also has a power drop down tailgate. You get this storage bin here with the nice wood grain trim on it. Center council's stitched out nice with a limited badge, passenger side format, and seats are in excellent condition. No rips or tears, this truck's never been smoked in. Has the panoramic sunroof with the fixed glass second row and power front sunroof. Power drop down tailgate, assist and SOS buttons, and then all your controls for the sunroof and sun shade controls, as well as your power side and rear window. Home link buttons for your garage door security systems and lane systems, and auto dimming mirror. We'll take a quick look at the back seats and then we'll start it up and take a quick look under the hood. Back seats are just as clean as the front seats, no rips, no tears, latch child safety system back here for any child car seats you may want to put.  These seats do recline just a little bit. It's hard to do with one hand to get a grip, but they do recline and then they go up like so. You do get the all-weather floor mat back here. These back seats are heated and cooled, USBs, USB C's, and then another 115 volt 400 watt plug-in. You get in-floor storage under here with removable containers for easy cleaning, and you do get a little bit of storage underneath those seats.  Down here you got power pedals, and we'll open up the hood and start it up. See there's no check engine lights or anything on there, and I would personally like to thank you for checking out the video. Today, hopefully from this HD video, you'll have been able to tell just how clean this truck is all the way around inside. Note under the hood we have the 5.7 liter V8 Hemi motor with the e-torque assist. Engine bay is very clean, runs very smooth. Once again, this truck has been fully safety and inspected by our service staff as a fresh oil and filter change. All the fluids have been checked and topped off, and this truck is 100% ready to go. If it's got that big silver box there, that's the e-torque assist. Here's your engine sticker, and I would highly recommend this truck from a quality and condition standpoint. Actually it was my manager's old truck, so definitely well taken care of and driven nicely. And to see more pictures of this truck or one of rather 450 new and used cars, trucks, SUVs, minivans, Wranglers, halftones, recorder tons, one-tons, you name it, we got it go to our website right there at www.summitauto.com. Full pictures and descriptions of every single vehicle from two locations all at www.summitauto.com. And if you'd like to check out more HD videos you can go to www.youtube.com slash www.summitauto.com. Remember to like, subscribe, and share on this video and all the videos that you see there. In fact in a second you will see a link to subscribe to our YouTube channel on your left. A link to more Ram 1500 truck videos like this one right here if you've not been to our website on the bottom link to this vehicle on our website click those check us out and we're super excited to be offering this extremely clean 2020 Ram 1500 crew cab six foot four inch box limited night edition in diamond black crystal pearl. Thanks again for checking out the video.


Would you rather pay $650 or $66 for a smartphone? Simple.  Better service, bigger savings. That's today's Appalachian Wireless. Well right now is our hot season at the health department and it's a vaccination time for back to school and we're seeing a lot of school age kids come in and to get an update on their vaccinations. We're also seeing those new preschoolers or kindergarten getting ready to go to school and that they need an update on their vaccinations as well. And so if you have someone that's going into Head Start or preschool, they would need an update on their vaccinations if they're four years old. And then the next time would be at sixth grade. Sixth grade requires a physical and also some vaccinations and then you will get your booster at age 16 for meningitis. That'll complete you and stuff from kindergarten all the way through high school. They can call us and we have plenty of vaccines here at the health department. They can also call their pediatricians office and then if they're pediatrician and can't get them in, they're too big, then what they would need to do is just call the health department and bring their shot record in and we'd be glad to help them out.


What's interesting about Executive Order 9066 is when you read it, it seems neutral. It seems innocuous. It looks like just another bureaucratic order. You would have difficulty understanding what it was all about. And indeed, that's true of many important historical documents. Many of them look like nothing. You might pass them by. You might shrug.  But what's crucial here is that Franklin Delano Roosevelt, using the power vested in him under the Constitution within our system, gave authority to the military. What he did was he delegated. He said that the U.S. military would have the authority to do what it believed was necessary to protect the nation and specifically to protect the nation on the West Coast. And so even though the language is very neutral, you would look at this and say, well, this doesn't have to do with race or ethnicity. I can't even tell who this concerns. You might look at this and say, I don't even know what threat he's talking about. So you always have to look to the context and you have to look at what happened afterward. So right after Pearl Harbor, there was a roundup. It took place almost immediately. And what happened was people of Japanese descent, along with some Italians and some Germans, almost all of whom were foreign nationals, meaning they were citizens of a different nation. So for the people of Japanese descent, the Issei, that's first generation, they couldn't naturalize because there was a rule, there had been a Supreme Court case that said if you're not a free white person, you can't become a citizen. It doesn't matter how simulated you are, it doesn't matter how long you've been in this country, you'll forever be what they called an alien ineligible to citizenship. There's another phrase, it's just a lawyer's phrase, it sounds innocuous, it doesn't tell you anything about what's going on, but it's actually about race. And so there was an initial roundup of many hundred people. But then, as Congress held hearings, as there was panic and concern and anger that was built on top of the racial prejudice that was already there, FDR signed 9066. And then what happened is Lieutenant General John L. DeWitt decided that he would use the authority given to him, because even though FDR's language is very general, very vague, very bureaucratic, what it did was transfer power. And it gave the military this authority. So when you go and look at what General John L. DeWitt ordered, the signs that were put up, they're very stark, they say, instructions to all persons of Japanese ancestry. So it's clear who he has in mind. And if you go back and look at what he wrote, there's a famous document called The Final Report where he explains what his plans are. And then he went and testified, and he told members of Congress, oh, you don't have to worry about the Italians, you don't have to worry about the Germans, but you must worry about the Japanese until he has wiped off the face of the map. He said, I'm paraphrasing here, in the war in which we are now engaged, racial affinities are not severed by migration. And he said it was a racial war, not just a normal war, but a racial war. And so you don't see any of that reflected in Executive Order 9066. In part, that's because when the president speaks through an official order, it almost always sounds like this, bureaucratic and legal, because that's what it is. It's been drafted for him by bureaucrats and lawyers. And it's meant to have a certain dignity, a certain majesty that's accorded to official actions. So part of the challenge for historians is to take just the text as neutral and innocuous as it is, and to go and look in the real world and ask, what did this piece of paper?  What did it actually do? What did it enable? Because words are powerful. Words bring about changes in the world around us. This isn't just a set of words, why? Because these are the words that came from Franklin Delano Roosevelt, or at least the words that he signed. And so they're not just anybody's words. These aren't just the words of a crank on a street corner giving us speech. These are words that have and are invested with a sense of meaning through law, through the Constitution. And so as we read it, it's important to read this and see that it's necessary to always go back to the primary sources. But that's not sufficient. We start there as a beginning. We don't just end there. We ask what did these words allow, what did they lead to?


I feel like this inside. I know I look, I know I don't look like this on the outside because we all have a way of faking it. But if this is how you feel, I want you to know it's okay. All you need to do is just keep moving. Life is not a fashion parade. Life is not a catwalk.  That can make you feel you've failed and you need fixing. This is not a race. It's not a comparison zone. And if all you do is this today, then good on you. Well done. Thanks for being here.


Hey everybody, what's going on? I am Greg Sosman, joined today by Jim Sonis of Fandle, who's here to talk about the next race at Darlington as the Cup Series continues. What's up, Jim? I can be nothing but great right now, Greg. It's so exciting to have actual sports and cars back on the track for real. Another race coming up on Wednesday. The Xfinity Series is running Tuesday. So I'm kind of, you know, at least relatively on cloud nine, so things are pretty good here. How are you doing? I'm doing all right, man. Having sports back, no matter what the sport is, makes me feel good. I'm excited. NASCAR, a lot of people have fun with that over the weekend and I'll continue, of course, on Wednesday for the next race at Darlington. So let's begin with your favorite DFS play here on Wednesday and well, it makes sense. You like recency bias and the person that most recently won at Darlington was Kevin Harvick. So he's your favorite driver on Wednesday. Yeah, it definitely feels point-chasey to go with Kevin Harvick, but there is also a direct advantage to having him won that race on Sunday from a DFS perspective. That advantage that he's gonna start 20th on Wednesday. What the Cup Series is doing for qualifying is they were inverting the top 20 drivers. So Harvick won, he starts 20th, the driver who finished 20th will start first. That's huge because for this race on Wednesday, we wanna find drivers starting further back. The Wednesday race is shorter being 500 kilometers. And when a race is shorter, we are incentivized to find drivers starting further back who can get us upside via place differential. And you're not gonna find many better options than Kevin Harvick there. Coming off that win, they have confirmed they're gonna use that exact same car that they used on Sunday. So we wanna use drivers starting further back. Kevin Harvick is starting 20th in the exact same car he used to win on Sunday. I think that that makes it really enticing and really hard to go anywhere else. Then Kevin Harvick at the top end, he had one of the best cars on Sunday. If you look at my betting model, he does lead that model by a pretty good chunk. He was leading it before Sunday's race, so it's not just because of Sunday as well. So I think Harvick stands out. If you want to pivot, I think that Joey Logano is interesting starting near the front, but should have good latch lead upside and good finishing upside. And then also Kyle Busch starting behind Kevin Harvick after some issues on Sunday. Both those guys stand out. But for me, the top end guy you need to roster is going to be Kevin Harvick. Like I said, it makes sense. The guy just won this past Sunday. You look at Jim's betting model and he's one of the favorites here in that point and that place differential that you get on Fandall voting 20 to hopefully one makes Kevin Harvick certainly one of the favorite drivers you got to put in your lineup on Wednesday. Well, if you don't like Kevin Harvick because, hey, he's not going to win two in a row, maybe you go with the person that finished in second. And that would be Alex Bowman, who is starting, well, inverted. He's starting 19th on Wednesday. And hopefully that place differential will come into play for him as well. Yeah, I think that Bowman, a lot of the value here shows the value of actually watching the race on Sunday. I'm not like a grind the tape truther, but if you watch that race, you could tell that there were kind of three drivers who seem to be the class of the field. And those were Kevin Harvick, Alex Bowman and Brad Keselowski. And Bowman will start 19th. He is also very cheap at $10,600 and referencing the betting model once again, Bowman ranks fourth for me there. He's 10-six. Meanwhile, every driver who is ranked ahead of him is $12,200 or more expensive. So you're getting really good value on a driver who has pretty good odds to win this race. There have been two races prior to Darlington this year that have been somewhat similar to this track. Those were at Fontana and at Las Vegas. In Las Vegas, Bowman had a chance to win, but had a late caution kind of nipped him in the bud there. Then in Fontana, he wrecked the field and he won the race pretty handedly there. Then we had that race in Darlington on Sunday where Bowman once again was crazy fast as were his teammates at Hendrick Motorsports. So I think Alex Bowman starting 19th is a cheap way to get major place differential upside and he could get you a win as well.  You're not breaking the bank to get there. I think that Bowman is definitely a driver you want to get to and it could be a part of a really good balanced build allowing you to get his teammates. We'll talk about here in just one second. Alex Bowman priced just here at $10,600 allows you to do a lot of maneuvering in line-up a really fairly balanced line-up rather than stars and scrubs. Bowman in a good spot according to Jim's betting model and obviously has raced well here this season including on Sunday at Darlington. Bowman seems like an obvious choice to put in your line-ups. Always an obvious choice, at least to me. It's Jimmy Johnson who was racing really, really well on Sunday before crash kind of did him and he was leading the pack at the time. Of course it didn't end so well. He's gonna start in the 38th spot. So kind of similar right based on place differential and you get him in there knowing the time driver that Jimmy Johnson is, you really could score a lot of points in that way. Yeah, absolutely. We were slobbering over Harvick because he's starting 20th but Jimmy Johnson's starting 38th. So the place differential upside there is massive and as you said, he was leading that race before that wreck occurred. So we know that he can run well and finish well and that's a key. But it's also again, kind of like Bowman it wasn't just Darlington where Johnson ran really well. He was also good in Fontana which is another track with heavy tire wear. That's a good thing for him. He also had a seventh place average running position in Darlington last year. Veterans seem to do well on this track in general. Kevin Harvick is an older guy. He won yesterday's race. Johnson was running really well before that crash. So I think that what you're getting here is similar to Alex Bowman. He is a cash game building block with monster upside. You don't get a lot more place differential potential. We had with Jimmy Johnson right here. He was running really well before the stoppage this year obviously had a fast car once again on Sunday. So it kind of just lines up really well. The only detriment to Johnson is that he will be super popular because everyone's going to go this way. But honestly, I don't care all that much. He is still someone I try to get overweight to relative to the field just because there is a reason the chalk is the chalk. And it's because he is the objective best play in the field. So $10,000 Johnson, a guy you build around for cash games and you try to get overweight on tournaments because sometimes it makes sense to swallow the chalk. And I think we're here with Jimmy Johnson. This is going to be one of those instances. Yeah, you don't always want to go with chalk. I understand that it's not fun. It's not exciting. But Jimmy Johnson, price is just $10,000. Starting in the 38th spot, 10th driver that he is, 10th car that he drives. Jimmy Johnson is going to be in everybody's lineup. But everybody includes you. So he's got to be in your lineup as well. We know popular he is. We know how not sexy it's going to be. Jimmy Johnson belongs in your lineup on Wednesday. Let's move on here. Now, away from the top plays for a moment, let's move on to William Byron here. He's priced at $9,000. He's starting right around Jimmy Johnson here at the 35th position. Why do you like him on Wednesday? Yes, we said that Jimmy Johnson wrecked at the end of the opening stage and did not win it. The guy who won because Johnson wrecked was William Byron. And what's impressive about Byron winning that opening stage that he actually started that race effectively 16th. It was technically 18th, but he moved up a row with Kyle Busch starting in the back of the pack. So started 16th, worked his way forward, and was running second before that Johnson crash. That shows you just how good this car was for William Byron. He eventually, though, in the second stage, he wrecked as well, got in the wall, did want to finish in the race, but was kind of limping around for the rest of the way. But now he's going to start at 35th all the way back there with Johnson. And he's a little bit cheaper as well. This is the third time we've seen William Byron have a really good car in Darlington, but not converted into a good finish. You could view that as a concern, but it's also a sign that he is due for some regression at Darlington, especially when you consider the fact that he is so young. Eventually, things are going to click together for him and he'll put together a full race. And that very well could be on Wednesday this week. So Byron is very similar to Johnson where he has a massive floor, but also has a path to a really good day. And I think that even some chance to win here, which you don't have to get at a driver's who have a salary of $9,000. So Byron, I know there's been some tough luck here and I know the wrecks can be frustrating, but he is a good driver. He is in great equipment. He's starting at the back. He checks every single box that he wants. So for $9,000, he, like Johnson, someone we should build around even though we know he will be popular. Again, the popularity, it doesn't necessarily matter when it just makes all that much sense. William Byron has been racing well. As you mentioned, all the success at Darlington, he hasn't converted it yet. And that regression word, in this case, it's positive regression, where things are just going to fall his way. He's not going to get into a wreck. His car is not going to fall apart. He's just going to finish well. And that's what we expect from William Byron, or at least we hope, on Wednesday. Up next, it's Chris Buscher, who is priced at $7,300, a little bit cheaper than someone the drivers we've talked about. He's starting in the 30 second spot. What do you like about Chris Buscher on Wednesday? Yeah, the first four drivers we discussed, Greg, were all really good on Sunday. And Chris Buscher sucked. He was the guy that Johnson ran into, leading to that wreck. And the reason that Johnson ran into him is because Buscher was slower and about to get lapsed. That's a pretty major concern. And Buscher didn't get a lot better as that race went along. But part of the reason he didn't get better could have been because of the damage he sustained when Johnson ran to the back of him, which may have slowed his car down. So that's a concern. And maybe you look at this and want to shy away from Chris Buscher as a result of that. And I think that's a very valid concern to bring up with Chris Buscher as well. But he's starting in 30 second. That is a good thing for us because it gives us additional flexibility with where he finishes. You don't need to finish as well to pay off our DFS if you're starting in the back. So a lot of flexibility here with Chris Buscher. We've also seen his teammate, Ryan Newman, ran really well on Sunday. He was actually up on the top 10 at times, had a really solid day. And now they can take the knowledge they gained from Newman's race and apply that to Chris Buscher's car for Wednesday, which will be a new car, which is a blessing for him. That is to be sure. So the car for Buscher should be better on Wednesday. I also don't have a lot of questions about the talent with Chris Buscher because we've seen him do well at Darlington in the past, even when he was in bad equipment in past years. He had a top 14 average running position here, both in 2018 and 2019. And his equipment, at least in theory, is now better than it was for those races. So he is risky due to the poor performance on Sunday. And I think that that is worth noting. He is not as big of a staple as we should view guys like Byron and Johnson as being. But I think that with Chris Buscher having had success at the past in Darlington, given that Newman was pretty good on Sunday and with Buscher starting so far back, I'm gonna go back to the well. It bit me pretty bad on Sundays. I had a lot of Buscher then as well, but I think he makes sense once again. It is kind of risky, but I'm willing to take that risk because of the positives that Buscher provides. Buscher is a little risky given how he performed over the weekend. But the average running position is actually pretty good for Chris Buscher. In historically speaking, here at Darlington, he's in a new car, new equipment that's ideally going to be better. They learned from their mistakes here on Sunday. And hopefully that leads to a good race with Chris Buscher, or at least for Jim, who's gonna have him back in his lineups. One last driver I want to mention, you're all over this one here, Jim, over the weekend. And that's Tyler Redick. He really liked him and his teammate Austin Dillon. He's priced at $6,700 on Wednesday. You can start from the 14th position. I believe he finished seventh on Sunday. Redick drove well, and he's still priced relatively cheaply again. I think you have to like Redick once again at Darlington on Wednesday. Yeah, this is one of the situations where we got a little bit lucky, Greg, because the salaries for this race came out before the end of the race on Sundays. They didn't know how good Tyler Redick was gonna be, but there were times in that race where he had the best car on the field. You mentioned that he finished seventh. That is despite the fact that he had a pit road violation and had to restart at the back of the pack about midway through. So it kinda had to wonder where Tyler Redick would have finished had he not had that violation. He did wind up finishing seventh, which means he will start 14th. And yes, that does mean that he's starting a little bit higher than the other drivers we have discussed so far. But he had a 13th place average running position on Sunday, and I think that kinda undersells what he did as well. And we've seen him do this at Darlington before in the Xenides series, which is the AAA of NASCAR. He had a top three finish there in both 2018 and 2019, in that series, so probably not a fluke. I think that that makes him really interesting even though he will start 14th. I think that he is a juice to finish top 10. Once again, as he did on Sunday, if you can get a top 10 finish out of a driver at $6,700, I don't really care as much about the place differential upside. I just want the finishing points and Redick is a pretty good bet to get those. Now, if you do want some increased flexibility and wanna go with the driver starting further back so you can have a little bit of leeway, I think that Cole Custer fits that really well. He is starting 22nd and he would work. If you wanna go back to Ricky Stenhouse Jr., he's starting 40th. In theory, you could do that. I probably won't, but I understand why you would want to due to the place differential upside. But with Tyler Redick, the equipment is good, the talent is great, and he's starting far enough back where you do have a little leeway. So you have options in this range, specifically with Cole Custer. Not gonna mention Stenhouse again, but I think that Tyler Redick is worth the risk at $6,700 given the upside he possesses. Cole Custer, a legitimate option. Ricky Stenhouse Jr., not really. But Tyler Redick certainly is. He may be starting 14th, but the history is really good here. And the talent, it's also real. There's a lot of like with Tyler Redick certainly coming into his own. He's had a lot of success at Darlington. So let's take advantage on Wednesday. There you have it. Those are the picks for the next Cup race. Wednesday with NASCAR, just moving and moving. Someone for us to watch, get excited about, play a little DFS with. Jim, appreciate the time and have fun. Yeah, thank you, Greg. I appreciate it. Hopefully there is no rain on Wednesday cause it looks like things may be a little bit dicey there, but either way, we should get a race in at some point and I'm very much looking forward to it. Enjoy your week and hopefully I'll talk to you again soon, Greg. Absolutely, I certainly will. Rain or shine, we're here for you. For Jim Sannis, I'm Greg Sussman. You're with the race, everybody. Have some fun and stay safe.


Hey Psych2Goers, let's be in another journey towards understanding everyday psychology better. Have you ever wondered if you're a highly sensitive person, also known as an HSB? Most HSPs don't even know that they are HSPs, while others can't really comprehend what it means to be a highly sensitive person. They're often misunderstood and seen as too sensitive or too intense or too emotional by those around them. Because of this, HSPs can seem difficult to get to know and grow closer to. With that said, here are eight things highly sensitive people often do that make them difficult to love. 1. Picking up on every emotion. Isn't emotional compatibility one of the key components of dating? But being an HSP, you take it to a whole new level. You're quick to absorb your partner's emotional states, whether good or bad. You empathize with them and experience their feelings as your own. It's hard for you to remain calm when your partner is anxious.  2. Receiving every little detail. HSPs are incredibly adept to reading faces and body language, and so you have a tendency to fixate on it no matter how many times you're told it didn't mean anything. Whether it's a slight change in the tone of a voice or a shift in facial expressions, you pay extra attention to what those around you do, and it causes you to take things too seriously sometimes. As a result, your partner has to constantly be cautious of their behavior around you to prevent you from overthinking too much. 3. Being able to catch lies. You might think that honesty is integral to every strong and healthy relationship, and you'd be right, but when it comes to dating you, sometimes it can be off-putting to know they can't ever hide anything from you. You're able to see every chip in others' armor, so people who have something to hide may feel uncomfortable sharing too much to you because they might feel exposed. 4. Taking things too slow.  Whatever the reason may be, most HSPs like to take things slow with their partners, especially at the beginning. This can often make you seem hesitant or guarded when you first start dating. As a result, there might be times when they start to wonder if you even return their feelings at all, so it's not easy to love an HSP, especially for those who want something serious right away. 5. Getting overwhelmed too easily. Do you dislike lots of commotion or noise or crowded places? Are you exhausted by too much activity or social interaction? If so, this means that you're not the type to go out and party a lot and find it almost strenuous as it gets too overwhelming for you. So those looking for a partner who's adventurous and always outgoing will likely feel frustrated when they date an HSP.  6. Needing too much space. Any highly sensitive person, whether introverts or extroverts, always needs some time alone to decompress at the end of every day. You can't handle being so stimulated for long periods of time and thus need to be alone with your thoughts and feelings without any disruption. You need your partner to respect your boundaries and to understand when you disappear at times without so much as a caller text for days on end, it's to clear your head, not to avoid them. However, people who don't truly understand why you do so can feel unwanted or uncared for. 7. Being too conflict diverse. No one likes conflict, of course. But being an HSP, you're obviously against it. You dislike having to take sides and feeling the tension of unspoken anger between people. So you avoid any possible conflicts at all costs. You're quick to agree and go along with other people, even if you don't really want to. Then you're careful never to voice any criticism or differing opinions that you might have. You may not speak your mind.  You tend to overlook the positive change that conflict can sometimes bring, especially when it's dealt with constructively. And because of this, as an HSP, you can seem too compliant, submissive, and disingenuine. 8. Neglecting your own self-care. Being an HSP, you're very guilty of not taking good care of yourself. Your empathetic and compassionate nature compels you to put others' needs ahead of your own. You make everyone else's problems your problem. And you struggle with taking time out for your own self. If we're not aware, it can get tiresome for your partner to constantly be worried about your well-being. HSPs are caring, thoughtful, and sensitive to a fault. You need more care and attention to really flourish and feel comfortable in a relationship, whether it's platonic or romantic. But once you do, it will undoubtedly be one of the most rewarding and heartfelt relationships your partner will ever experience. Did you relate to any of the listings in this video? Have you observed these traits in those around you? Do let us know in the comments below. Also, share this video with those you think might benefit from it. Stay tuned to Psych2Go for more.


Okay, which is recording. So I'd like to introduce you to our speaker for right now. Her name is Marlis de Ope Lima. She did tell me how to pronounce that in the correct way, but I know that I would butcher it, so rather than attempting it, I'm just going to say that welcome, and thank you for being here. She's a midwifery professor at the University of San Paulo School in the Humanities Arts Science and Midwifery course in Brazil. She's also a researcher on women's health and quality of life, midwifery care and depressive symptoms and pregnancy. Prior to her position at the university, she taught and coordinated the School of Nursing at the Adventist University of San Paulo. She completed her basic nursing degree from the University of San Paulo postgraduate degree as a nursing midwife from the University of Santo Camilo. I hope I'm saying that correctly, and a master's and a doctoral program from the University of San Paulo. So welcome, Marlis, and I look forward to hearing the rest of the presentation. Thank you, Megan, for introducing you. First of all, I'm glad to be here. It's an honor to participate in this virtual International Day of the Midwives 2017 and to have the opportunity to share this project with you midwives around the world. The project upscaling midwifery education in four countries in Africa is founded by an organization of the petroleum exporting countries found for international development, OFID, and it is an partnership between the World Health Organization, the General Conference of 70-day Adventist Department of Health Ministries, and Loma Linda University. We all know that maternal mortality rates around the world are very different, and in some countries it remains a challenge to be faced by the government. It can be said that maternal mortality rates show how valid a woman is in her society. So high maternal mortality continues to be a problem in many countries in sub-Saharan Africa. WHO, concerned about this problem, established with the country's members sustainable development goal 3.1, which aims to reduce maternal mortality ratio below 270 by 2030. In order to reach this goal, WHO decided to partner with the General Conference of 70-day Adventist Department of Health Ministries that globally have more than 70 schools of nursing and midwifery. So as to improve quality of midwifery education in these countries, the established goal was to upscale midwifery education by facilitating the implementation of WHO midwifery educator core competencies by midwifery educators. To reach this objective, laboratories of change were developed to provide an environment for embracing innovation, new ideas promoting changes in attitudes. We are assuming that establishment of laboratories of change in these countries will transform midwifery educators by improving their knowledge, skills and attitudes. Ethical, competent and confident midwives can improve the health and well-being of women and girls across the lifespan. The project donor chose four countries to take part in this initiative, Botswana, Lesotho, Malawi and Camero. We are using a theoretical framework, the Change Theory by Kurt Liewing, which presents to us three cycle phases, as you may see at this slide. Phase one, unfreezing, make people aware of the need of change. We started by doing a capacity assessment of the midwifery educators from specific schools of these four countries and then we explained the project and the WHO core competencies. After that, the consultants and the educators get together doing a gap analysis and came out with the development of action plans with timelines. Phase two, moving to present innovations, the new approach. We introduced the theoretical foundations of competence-based education and active methods of learning through seminars. And now we are in phase three, refreezing, which means incorporate these innovations on a daily basis through implementation and assessment of competence-based education. Also, demonstration by the midwifery educators, the WHO core competencies and enhanced collaboration between them, focus on values. These slides show us the dates of all the steps we have been through since December 2014 and go on until March 2017, when we were able to do the capacity assessment in Cameroon. We started the capacity assessment before in the other three countries, so it's a little bit different from what you may see here from Cameroon December 2016. Actually, the data was March 2017. The project will continue until 2019. We work in collaboration with international, regional and country-based WHO leaders. WHO collaboration centers establish at universities of these countries with ministries of health and nurse and midwifery council leaders who are all engaged in facilitating change in the knowledge, skills and attitudes of the midwifery educators. Assessment of sustainability and accountability will be examined through indicators jointly developed by participants and consultants and by the ability to, one, integrate midwifery educator core competencies into their teaching and, two, incorporate competence-based education concept into their curriculum. The outcomes will be changed in the knowledge, skills and attitudes of midwifery educators that will be assessed using the WHO midwifery educator core competency gap analysis tool at the end of the project. The WHO midwifery educator core competency has 19 domains that we have to go through it and to show how they are confident, how they are competent in all these core competencies. The outcomes, by doing that, we hope to make a difference through midwifery education and decrease the maternal mortality rate in these countries. These are the direct participants of this project and you may see a picture of Dan in the next slide. Some of them from Loma Linda University are here with us and they will help me answer any questions you may have. Some of them, like Dr. Patricia Jones, are from Loma Linda University, WANSA and Kowani are from WHO, Jennifer Nayoni is from WHO Offsie, Africa Offsie and some of the others are participants of this project from the school, from the International Consulted also. Here you may see the picture from the part of the group, the majority of them are here. We want to say thank you to RFID once again for funding this project and thanks to all of you who is attending this presentation. I know we have more time for some questions and I want to open this time for any questions that may you have and thank you again, Megan, for introducing me to this presentation. Wonderful. Thank you. This sounds like such an enormous project. I think the slide from me that really hit home was the one where you had all the dates on it and it was like, wow, this is a lot of work here and I know that Dr. Pat Jones is here and able to answer questions as well so I would leave it over for you guys to negotiate the questions that are coming in but let me know if you want me to help in any way. I think for me, one of the things that it brought up was what was one of the hardest parts in doing all this, like what were some of the things that came up that you were surprised that were difficult you weren't expecting or even that you were expecting and that was one of the struggles. Well, for me, the most challenging thing was to put all these people together and to have our meeting and to try to speak the same language for the whole project. I mean, it's a big challenge because they want to work in a competence-based way, in a competence-based education way but they don't know really what it is about or how to really use this in their teaching so working with them about this is really challenging for us also because we are working in a different countries with different cultures and different realities although they are all in the same continent as African continent but there is some differences between them. For instance, in Botswana, they are more developers than the other countries so they have more support for doing these changes but in Malawi, they face huge problems to use these new ideas, the new approach to their teaching so it is wonderful to have these differences between these countries and to deal with different realities even though we are at the same continent. Awesome, thank you. What are some of the things that helped overcome the struggles? Did you have interpreters to help with the different languages or was it something that you just kind of all got through together because there were enough people there that knew languages? Well, actually all of them, they speak in English so the kind of universal language is English but they all have also tribal languages and other national languages but we use only English to the classes and at school actually at the middle high school and at the university they all use English, not other language, not local language so it is easy for us at least to try to talk to them at the same language. Wonderful, I can see some people are starting to type some questions that are sort of coming in but until they come in I am going to sort of keep asking if that is okay, I feel like I am overtaking your thing, oh here is one that is coming, has there been a difference at all, i.e. a drop in the MMR in any of these countries during the project so far? Not, it is not our goal to decrease, direct the maternal mortality rate through our project. Our project is to enhance the teaching through the competence based education for midwifery and then through skillet midwives help to decrease the maternal mortality rate so it is not a straight goal for us or we may not say that we are really improve the maternal mortality rates at these countries but we hope doing so through our job but there is no straight line for that right now, at least right now. Talking about schools and I know for me I am working in America right now, the international students have, it is kind of a hot topic for American students to go international to get experience. Is there some, I don't know, I want to say use but that is not what I mean, that is not the word that I mean, can you see a situation where students from countries like America can be useful within the scope of this project? Actually not, if I understood correctly you were asking me about the students to go to these countries to working with us in this project, is that correct? Yes, we get a lot of students in our school who want to do work overseas as part of both their students experience but also their ongoing midwifery experience and I was, it is a bit of a controversial topic right now as to whether this is an appropriate thing for students to be doing or not and I was interested in whether you felt like it is appropriate within this project or it would not be appropriate within this project. Well actually we are not working with any students at this project, we are more like consultants so we have some background about competence based midwifery education and I am aware about this, it is a controversial issue right now but particularly at this project we are not using any foreign students at Africa, it is just for the midwifery educators and with us from WHO, local leaders, consultants from the University of, like WHO, Collaborations Centers and from Loma Linda University and some international consultants but not, we don't have right now any students from the United States or from any other country participating in this project right now. Wonderful, thank you. I see some other people that are typing some questions so I will just allow a little bit of time for them to do that or alternatively you can raise your hand and I can give you the microphone if you would like to speak. Now so, I want to ask Dr Pat Johns or Sabine Dumbard if they want to share more ideas about the project or say something more maybe you can contribute also. You both have microphones if you would like to talk, I think you just probably have to go up to the top of the screen and make sure that the microphone there is green but by clicking on something, something that I want to say is all the Sub-Saharan African countries, they are looking for a competence-based midwifery education, usually they are nurse midwife, there is no direct entry fee for midwifery there right now because they think that it is important to have both knowledge, nurse and midwifery so they don't know how really to implement this so they are trying, they are struggling to implement this for the whole universities and the whole schools of nursing and midwifery in these different countries so this project is a really, how can I say, it's really trying to make this difference, helping them, helping the government, helping the nurse council leaders to implement it and to transform the competence-based education for the school of there so we are really being like a consultant helping them to do this. So it's sounding like the schools are making their own plan of education but your role really is to just help and kind of oversee and provide assistance where you need to, is that right? Yes. Okay, awesome. I can see some questions have come in here. What is the response from the teams you are working with? Are people finding it as making a difference to how they are handling the students? This is from Jinga, I hope I'm saying your name correctly. She is from Uganda and they have direct entry midwifery but often people want to have both training since they can be in isolated situations and need more knowledge. Oh that's your town, it's a town. Just pronounce ginger, I'm so sorry. I should be better but I'm very sorry. Well, it's not an easy task to change your vision, your ideas and to adopt a new approach to teaching. So there are different levels of acceptance between the sites. There are some of the sites that they are going further and they are in braces, they are understanding better than others. But it is the same for us. I mean, usually at the school you have the students with different levels of knowledge, of acceptance, of new ideas. So at the end of this project we will be able to see how it is really working for the teachers and for the new students and how they are being able to incorporate these new ideas and these new approaches to the teaching on a daily basis. So for now we are still implementing, we are still working with the professors there to get confidence, to start implementing the competence-based midwifery education. So right now we don't have yet any reports about how they are reaching the students, how they are doing the things in a new way. But we hope that very soon, we hope to have these reports very soon. We have these data. But we now, we are feeling that we are getting more and more in this. There are different levels of acceptance, different levels of using this new approach, these new ideas. But we hope at the end, all of them will have the same level, they are all using in the same way or at least in a common level, may I say. Awesome. I can see Sabina's typed, I'm getting over Laryngitis social type. It has been encouraging to see that the midwives from different sites have formed relationships and are eager to collaborate with each other. That's really interesting to me as well. Can you elaborate more on that? So the groups that you have been working with, they are starting to talk to each other and maybe share resources. Do you find they share similar, is it similar between the countries or is it quite different between the countries in terms of how they have set up their curriculum? Yes, they all have different curriculums. So we are trying to work with all the different types of curriculum that they have to these four sites. But they are starting having some meetings together. So they have been able to change, to share the reports, to share new ideas, to how to implement this competence, these midwifery education. So they have this opportunity to share the experiences they have been through. And this is very wonderful because they can have the opportunity to share these situations and the challenges, situations they have been through. So they can learn off each other's experiences and what worked for them and what didn't work for them and that kind of stuff. That sounds like it should happen much more throughout everybody, you know, in terms of both in midwifery but also in midwifery education as well. That sounds fantastic. Taro Meti, I hope that I'm pronouncing that correctly. What are the timelines after implementation will you be able to see results? So I guess from here on out what's your kind of timeline looking at? So our final report will be by 2019. So we have more at least two years ahead to continue following the implementation and look for the results of this project. What kind of measures of results have you got coming out of that? Is there something that you're going to, is there a specific measurement that you've got or is it both sort of a feeling that you're going to be able to see the results? Is there a specific measurement that you've got or is it both sort of a feeling from the teachers as well as a quantitative measure? We are more working in a qualitative data and also we have the gap analysis tool from WHO core competencies that is more quantitative data also. They measure how they feel competent about the top and how they feel confident to put it in practice. But the results are more qualitative and we are seeing that our major challenge is really to change attitudes and behave as an attitude, to change values, to make them moving forward, change the old habits about teaching or about how the value need free education. So it will be indicators more related to the qualitative data and we have part of it, quantitative data about the gap analysis tool. Wonderful. Monica says the curriculums are usually set by the government. Pat's saying we anticipate the hardest change will be in the area of behaviors and attitudes. Knowledge and skill will be the easiest to change. Can you talk some more about that? In terms of behavior and attitude, are we talking about other medical professionals in the area or are we talking about people, women and consumers of midwifery care or are we talking everyone? No, we are talking about midwifery educators. Because for them it's a challenge to change with the resource that they have. Sometimes they think that it's not possible to change the things the way they are. They were because or they are because of the lack of resource. But it's not true. It's not true. In reality we can make a difference. We can make a huge difference through education without lots of resource. So we are facing this challenge to make them believe that they can incorporate this changing without doing or without meeting lots of resource. And the government of these countries are really interested in to implement competence-based midwifery education. But they just decided which will be the curriculum, but they don't give the government, usually the government, they don't give to the teacher the tools how to make the changes in their teaching. So this is a challenge for us. So if I'm hearing you right there, you just said the government has the resources, but they don't pass it down to the teachers. Did I hear that right? No, no. The government went by law or by set the curriculum to every school using competence-based education. But the government is not given the way how they can do it. I mean, they are just demanding from the midwifery educators to change, but they are not given to them how to do it. So they have to do it by themselves or looking for themselves how to change. So now we are trying to help them to reach this goal to using competence-based education and to give to them the education, the knowledge, the skills and the attitudes to be able to implement, really implement that at the classroom. Because something is wonderful sometimes at the paper, but it's not really happening at the school, at the classroom. So we are trying to help them to make that a course at the school, at the classroom with the students and improving the quality of midwifery education through this. So that makes sense. So the government is saying we want it to be different. It needs to change, but they're not telling them how to change. That's where you guys come in. You're the ones that are kind of helping them with changing what they're doing in order to meet the curriculum that's been set. But that a lot of the times it's the instructors that are kind of feeling a little bit like, I'm not sure we can change. This is how it's always been. And I know that I fight that and even in my school here in America, we fight that fairly often too. So I can only imagine what it would be worse with less resources than what we have, which is plenty. All right, I'm just going to go on and keep reading here. Monica says, attitudes affect everyone. If the attitudes of healthcare provider is negative, it affects the willingness of clients to access care. Attitudes on behalf of the clients can also be affected by family and tradition. And Pat's saying, in these countries women have had negative experiences with the care by midwives and don't want to go to the SBAs for care. That's birth attendance. Remind me what the first word is, skilled birth attendance. This is often related to cultural and traditional practices. Midwifery educators admit that their role models have not always demonstrated caring attitudes towards women giving birth. And this is hard to change. So the question is, how much training or are we talking midwives? So I'm thinking, yeah, what is the length of the training for the midwives? Well, as I said before, usually they first, they take it on two or three years to be a nurse and then more two years to be a midwife. One to two years to be a midwife. So it takes like five years to be a midwife, but they are not a bachelor degree. They say they are, what is the right word for that, license, but it's not a bachelor degree.  So they are nurse three, two or three years previously as a nurse and then one to two years to be a midwife. And is there any training here that's directed towards the birth attendance rather than the midwives? Not that I know, not that I'm aware. Only they have doctors, obstetricians, and they have the nurse midwife to attend in the birth. I don't know if you have any TBA, traditional attending of birth, there probably they have also. But when we are talking, we are talking about the skillet birth attendance. Awesome. We've got comments five years is a long time and Pat's saying in many countries they are RNs first and then registered midwives for example in Botswana. Do they have a direct training or is it post basic midwifery? So are all of them nurses first or is there any direct entry midwifery training? As far as I know for these countries that we are working in only post basic midwifery, not direct entry. Awesome. I can see there's lots of people typing right now so I'm just going to give time and space for the stuff to come through. There's a question, they don't combine the training, do they do both together? No. Now they go just first for the nursing school and then take the midwifery course. They are not combined. Wonderful. I think there's a comment coming through from Pat. The programs we are working with do not have direct entry. WHO uses the term SBA to refer to all levels of health professionals who provide birthing assistance. Wonderful. Okay is there any final questions or any other topics that people would like to discuss or address? My lease I want to say thank you very much for your presentation and for all the work that you and your whole team are doing. I found it fascinating and I think that it would be such a challenge to be working with different countries and trying to come together to create solutions that work for everybody. Obviously not the same solution but solutions that still go ahead and work for everyone. So thank you for your presentation and for being here at the day of the midwife and happy day of the midwife to you. I'm going to turn off the recording button now.


At the final method of controller tuning and this time we will be talking about a method which falls in the domain of robust controller and this will be a method based on frequency response. So, we will look at frequency response based controller tuning and as I said this is under the domain of robust control design. So, what we are interested in is let us say our process has a transfer function of this form and you can use any of the heuristic method or any direct synthesis method or criteria based method to design a controller. So, you use this model to design or tune a controller. In reality if Kp changes to let us say Kp increases by 5 percent or your dead time was wrongly calculated and actual dead time is 10 percent extra of this under such scenarios would the controller still perform. So, we are looking at the robustness of the controller that if some of the process parameters in the presence of certain errors or variations in the process parameter would the controller still perform the way it is supposed to or would it still maintain the stability of the closed loop system. So, if your controller is able to handle such a large variation in terms of process parameters then you can say that the corresponding controller is robustly designed if not you will say it is not robust to modeling errors or errors to parameter values. Because these models are typically obtained from data and they may not capture the reality to the great extent. So, there is always a possibility that some errors might happen within these parameters. So, your controller should be able to handle any variations in such kind of parameters. So, when you want to do a design such that it allows you a certain freedom in terms of variations in the process parameters that particular method will be known as a robust controller design and we will be we will see how such a controller can be tuned by using frequency response. So, for that we will revisit what is frequency response and what is its role in terms of stability and its relation to stability. So, we have seen that frequency response is if you have a process you subject it to a sinusoid then your output will also be a sinusoid with a different amplitude ratio and different phase than the input. So, when you capture this as a function of omega which is the frequency of sinusoidal oscillation you will get the frequency response and how is it related to stability. So, for stability or I will say marginal stability the limiting stability stability limit what we calculate is a crossover frequency such that when amplitude ratio is when phase is equal to minus pi amplitude ratio is equal to 1 that will give you a marginal stability. So, that point into this AR phase and omega plane which are the based on these 3 parameters if you select if you find a point where phase is minus pi and amplitude ratio is my amry request is ratio is equal to 1 then that system is at the limit of stability. So, in order to ensure stability there are 2 possibilities there are 2 options. Option 1 is at phase equal to minus pi you can make AR to be less than 1. So, automatically you can ensure that the system is stable. There is another way of ensuring stability that when your amplitude ratio is equal to 1 your phi should be greater than minus pi. So, this is based on an assumption that monotonous nature of AR and phi. So, if your amplitude ratio and phase are monotonous functions of omega which is also a requirement of a body stability criteria based on which this particular condition is designed. Then you can say that when your amplitude ratio is equal to 1 at that frequency if your phase is still away from minus pi by the time it reaches minus pi amplitude ratio would have fallen below 1. So, both these conditions are sort of equivalent when you say both these are monotonously decreasing functions of omega and you can use any of these conditions to ensure stability. So, these 2 conditions will give rise to 2 design parameters in terms of frequency response base design. So, 1 is known as a gain margin. So, gain margin is defined as an inverse of amplitude ratio when phase is equal to minus pi. So, it tells me that so, if gain margin is equal to 1 then I have AR at phase equal to minus pi equal to 1. So, that means, it is a stability limit. If the gain margin is greater than 1 you have closed loop stability and we can show that higher the gain margin more is the tolerance in terms of control process gain errors in the process gain. So, typically gain margin is selected beyond 1.7. So, which will ensure that if only process gain has certain uncertainty then up to 70 percent uncertainty can be accommodated by ensuring again by keeping gain margin of 1.7. So, even if the gain increases by 70 percent the controller would still remain stable. So, that is the primary notion of what is a gain margin. So, it tells you how much additional safety you are putting in. So, whatever beyond 1 is the safety which we are putting in to in order to counter any uncertainty in the process gain. Similarly, we can also define a criteria based on the phase. So, that is known as a phase margin. So, phase margin is defined as pi plus phase when amplitude ratio is equal to 1. So, when phase margin is equal to 0 we have phase at amplitude ratio minus 1, amplitude ratio equal to 1 is minus pi. So, again that is the limit of stability. If the phase margin is positive what we have is at AR equal to 1 your phase will be greater than minus pi and therefore, you will ensure stability and higher the phase margin higher is the tolerance to error in dead time. So, this deals with any uncertainty in terms of dead time calculation. So, if the process has a lot of variability in terms of dead time then we can go for a higher value of phase margin. And you can know that these gain margin as well as phase margin as they are dependent on amplitude ratio and phase calculations they are also functions of controller parameters. So, by selecting a particular gain margin and phase margin we will get equations based on the controller parameters which will be kc tau y and tau d. And then we can accordingly select the values of controller parameters which will ensure a certain minimum gain margin and the minimum phase margin. Typically, phase margin of greater than pi by 6 or 30 degrees is quite common. So, let me show you how these are related to uncertainties. So, let us say our process transfer function for which we have designed a controller is this. So, this is the transfer function used for design and let us say the actual transfer function is as certain error in terms of gain tau remains the same and certain uncertainty in terms of dead time. So, this can be uncertainty or error in gain this is uncertainty or error in dead time. So, now if we see what is the amplitude ratio of the G actual is equal to amplitude ratio of your original GP because this is not going to cause any contribution towards the amplitude ratio 1 plus epsilon. So, 1 plus epsilon is equal to amplitude ratio of actual over amplitude ratio of the controller transfer function the transfer function which is used for controller design. So, for stability when omega is equal to omega cross over we want ARG actual to be less than 1. So, we want or at marginal stability G actually equal to 1. So, you can show that 1 plus epsilon is equal to 1 over AR of GP at omega cross over which is equal to 1 over AR of GP when phase equal to minus pi which is equal to the gain margin. So, gain margin is related to any uncertainty which we can tolerate in terms of the process gain value. Similarly, we can make a case for phase margin. So, if we say phase of G actual is equal to phase of GP minus delta omega cross over and now we want to say that or at omega. So, we want to say that at for stability limit when P is equal to minus pi AR equal to 1. So, we can say that minus pi is equal to phase of GP when AR equal to 1 minus delta omega. So, delta omega is equal to pi plus phase of GP when AR equal to 1 which is equal to the phase margin. So, you can say that whatever phase margin we choose higher the phase margin, higher will be the tolerance in terms of the dead time of the process. So, by using all this by this method we can specify a certain gain margin or a phase margin and accordingly we can find out the controller parameters. Let us now see how we can use this frequency response tuning method for a simple example. Let us consider that your process is first order less dead time and we are going to control it by using a proportional controller because it simplifies the analysis and for simplicity we will also assume that these two transfer functions are also unity and we have already seen how we can make this assumption. So, let us now see the overall open loop transfer function for this process would be 2 k c over 3 s plus 1 here is to minus 0.5 s. So, we are trying to find the k c and the goal here is to design a controller so that we have at least gain margin of 2 and phase margin of at least pi by 6 or 30 degrees. So, let us see if that is our goal in terms of design how do we go about finding the value of this controller parameter k c which is our single parameter here. So, let us first find out what are the corresponding amplitude ratios and the phase equations. So, a r in this case will be equal to k p k c over under root of 1 plus tau square omega square which is actually equal to twice k c over root of 1 plus 9 omega square. In the phase will be equal to minus tan inverse tau omega minus T d of s which in this case is equal to minus of tan inverse of 3 omega minus of 0.5 s. So, we have now equations for amplitude ratio and phase. So, in order to let us first see how we can design it for the gain margin. So, gain margin we know is the reciprocal of amplitude ratio when your phi is equal to minus pi or at your cross over frequency. So, let us first try to find out what is the cross over frequency for this system. So, we will have to equate this to minus pi that will give us the omega cross over. So, if you solve this equation you will get omega cross over is equal to 3.3405 radians per second. So, now this value of omega cross over what we want is we will have the phase of minus pi. So, we want to see what is the amplitude ratio in this case and that amplitude ratio we want to be at least 2. So, by using this what we get is your amplitude ratio at phi equal to minus pi will be equal to 1 over 2 which we already have calculated that it is going to be equal to 2 kc over root of 9 omega cross over square. So, by substituting the value of omega cross over here we can find out kc. So, the kc for gain margin comes out to be 2.5178. So, if I use again controller gain of 2.5178 then my gain margin will be equal to 2. So, for achieving gain margin of at least 2 my kc should always be less than equal to kc of gain margin. So, if I use any controller gain which is less than this then I can ensure that my gain margin is going to be at least 2. Let us now see the second part which is the phase margin design. So, for phase margin design what we have is phase margin is equal to pi plus phase at a r equal to 1. So, what we are interested in is we want to find out what is the corresponding phase when a r is equal to 1. So, we will use the phase margin of pi by 6 is equal to pi plus phase at a r equal to 1. So, that gives us phase at a r equal to 1 comes out to be minus 5 pi by 6. So, now we have the equation for phase. So, we will write that minus 5 pi by 6 will be equal to minus of tan inverse 3 omega at a r equal to 1 minus 0.5 omega a r equal to 1. So, we can again solve this equation to get omega at a r equal to 1 which in this case comes out to be 2.373 gradients per second. So, now we have this new value of a r omega at which a r is equal to 1. So, we know a r is twice k c over root of 1 plus 9 omega square. So, when I say a r equal to 1 this will be equal to 1. So, by substituting the value of omega a r equal to 1 into this formula we will get k c for phase margin comes out to be 3.5944. So, to ensure that phase margin is at least pi by 6 my k c should be less than equal to k c of phase margin. So, we have now found 2 limits on the controller gain one is based on the phase margin and one is based on the gain margin. So, in order to satisfy both these constraints. So, to satisfy our goal of gain margin greater than equal to 2 and phase margin greater than equal to pi by 6 our k c should be less than equal to the two conditions which we have one was 2.5178 and k c should be less than equal to 3.5944. So, the k c which we will use would be 2.5178. So, that it is it satisfies both these equations. So, if you calculate if the controller gain is this what you get is your gain margin is 2 and your phase margin in this case is 54 degrees which is definitely greater than 30 degrees. So, this is how you can design a controller by using frequency response base criteria like we used here in terms of phase margin and gain margin. So, to summarize we have seen this entire feedback control design system what we have seen is it consists of 3 sub problems for the first problem is about the synthesis where we want to identify what are the control variables manipulated variables and how do you pair them. The second part of the problem is a selection problem where we depending on what needs to be controlled what type of a simple controller has to be used whether it should be a p controller, pi controller or a PID controller. And then lastly we looked at four different methods in which we can select the parameters for the kind of feedback controller those are based on performance based tuning it can be a heuristic based tuning it can be a direct synthesis based tuning or just now what we looked at is a frequency response based controller tuning. And that is how you would end up selecting the values of controller parameters. So, we will stop here. Thank you.