EF

W
K

?? ?

K?

EF

W
W
K

K
K

K
K

W
W

K
K
K

KW
KW

EF

EF

W
W

K
K

--

EF

W J

K

KKKKK

KKK

W J

--

EF

W J

KKKKK

W J
W

--

EF

E
F

EF
K

KEF

W J
E
FE JF

K

KE JF

W E

--

EF

KKEF
W

K
W

EF

W E

--

EF

W
K
K

K E

--

EF

EF

W
W

--

K
K

EF

W J

K

K

W J

FK

KE J
W

F ( s) = L( f (t )) = f (t )e st dt
0

KE s = +

j FWF(s)

KWL

KWf(t) E

W
L1 ( F ( s )) = L1 ( L( f ( s ))) = f ( s )

c + j

1
F ( s )e st ds
2j c j

W J

WK
--

EF

L( af (t ) + bg (t )) = aF ( s ) + bG ( s )

W E
L( Af (t )) = AL( f (t ))
L( f (t ) g (t )) = F (s) G (s)

n
f (t ) n
= s F ( s ) k =1 s n k f ( k 1) (0)
n
dt

L d

WKf(0)
f ( k 1) (t ) = d

k 1

dt

f (t )

k 1

( f (t )dt )t =0
L( f (t )dt ) = F ( s) +
s
s

L f (t )dtdt =

F (s)
+
s2

( f (t )dt )

t =0

( f (t )dtdt )

t =0

Ws

L( f (t T ) = e sT F ( s )

L(e at f (t )) = F ( s a )
L( f ( at )) =

1
s
F( )
a
a

W E

lim sF ( s )
s

Wf(t)

f (0) = lim sF ( s )
s

--

EF

W E
lim sF ( s )
s0

Wf(t)

lim f (t ) = lim sF ( s)
t
s 0

WE JF
W

A t0
0 t < 0

x(t ) =

W
W

X ( s ) = x (t )e

st

dt = Ae st dt
0

A
X ( s ) = e st
s

=
0

A
s

u(t)A=1
W
U ( s) =

1
s

WE JF
W

x(t ) = Ae

at

t0
t<0

W
W

X ( s ) = x(t )e dt = Ae e dt = Ae ( s a )t dt
st

at st

A st
X ( s) =
e
sa

- -

=
0

A
sa

EF

W J
E JF

r (t ) = (t )

A
s

A; t 0
u (t ) =
0; t < 0

A
s2

At ; t 0
r (t ) =
0; t < 0

A
s3

r (t ) = At 2

A
s+a

Ae at

A
s + 2

A sin t

As
s + 2

A cos t

n!
(s + a )n +1

t n e at

(n = 1,2,3,....)

(s + a )2 + 2

e at sin t

s+a
(s + a )2 + 2

e at cos t

KE JF

- -

EF

W J

F ( s) = F1 ( s) + F2 ( s) + ......... + Fn ( s)
W
f (t ) = f1 (t ) + f 2 (t ) + ......... + f n (t )
WF(s)
F ( s) = B( s)
A( s )

Ks A(s)B(s)
W

F ( s) = B( s) = K ( s + Z1 )(s + Z 2 )...(s + Z m )
A( s)

( s + P1 )( s + P2 )...( s + Pn )

Pn, ..., P2, P1 Zm, ., Z2, Z1

n

Km
K

Pn, ..., P2, P1

W J J
W
F ( s) = B( s) =
A( s )

a1
a
a
+ 2 + ..... + n
s + P1 s + P2
s + Pn

K an ,...., a2 , a1

- -

EF

a1 = (F ( s)(s + P1 ) ) s = P

a2 = (F (s)(s + P2 )) s = P

KKKKKKKKKKKKKK
an = (F (s)(s + Pn ) ) s = P

WF(s)
f (t ) = a1e P t + a2e P t + ..... + ane P t
1

WE JF
W

F (s) =

s+2
s(s + 1)(s + 3)

W
s=-3, s=-1, s=0
F ( s) = a1 +
s

a1 = (sF ( s) ) s = 0 = 2 ,
3

a2
a
+ 3
s +1 s + 3

1
a2 = ((s + 1)F ( s) ) s = 1 = ,
2

W
a3 = ((s + 3)F ( s) ) s = 3 =

1
6

WF(s)
F (s) =

1
1
3 2
6
s (s + 1) (s + 3)

WE JF
f (t ) = 2 u (t ) 1 et 1 e3t
3

W J J
P2, P1
F ( s) = B( s) =

1 s + 2

a3
a
+ ..... + n
s + P3
s + Pn

(s + P1 )(s + P2 )
W s = P1 (s + P1 )(s + P2 ) 2 ,
1s + 2 s = P = F ( s)(s + P1 )(s + P2 ) s = P
A( s)

- -

EF

P1

K 2 ,

WE JF
W
(s + 1)

F (s) =

s (s 2 + s + 1)

W
W

F ( s) = 21s + 2

s + s +1

a
s

W
s = 0,

s = 0.5 j 0.866

P3 = 0, P1 , P2 = 0.5 j 0.866
W s = 0.5 j 0.866 (s 2 + s + 1)
s +1
s

s = 0.5 j 0.866

= 1s + 2 s = 0.5 j 0.866

0.5 j 0.866
= 1 ( 0.5 j 0.866) + 2
0.5 j 0.866

0.5 j 0.866 = 1 (0.25 + j 0.866 0.75) + 2 ( 0.5 j 0.866)

W

0.51 0.5 2 = 0.5

0.8661 0.866 2 = 0.866

1 + 2 = 1

1 2 = 1
2 = 0 , 1 = 1
s(s + 1)
=1
s (s 2 + s + 1) s = 0

a = sF ( s) s = 0 =
F (s) =

s
1
+
s + s +1 s
2

- -

EF

s + 0.5
1
0.5

+
2
2
2
s (s + 0.5) + (0.866) (s + 0.5) + (0.866)2

E JF
W

f (t ) = 1 e0.5t cos(0.866t ) + 0.578e0.5t sin (0.866t )

W J J
r
W

F ( s) = B( s) =
A( s)

br
br 1
b1
+
+ ... +
r
r 1
(s + P1 )
(s + P1 ) (s + P2 )

W b1 ,...., br 1 , br

W s = P1 (s + P1 )r
br = (s + P1 )r F ( s) s = P

s (s + P1 )r E
W s = P1

br 1 =

d
(s + P1 )r F ( s)
ds
s = P1

WsEF
br 2

1 d2
(s + P1 )r F (s)
=
2
2 ds
s=P

WK

br k =

1 dk
( s + P1 ) r F ( s )
k! ds k
s=P

WE JF
W

s 2 + 2s + 3
F (s) =
(s + 1)3

W
W
- -

EF

F (s) =
K s = 1,

s = 1,

b3
b2
b
+
+ 1
3
2
(s + 1) (s + 1) (s + 1)

s = 1

b3 = F ( s)(s + 1)3 s = 1 = s 2 + 2s + 3 s = 1 = 2

b2 = 1

d 2
s + 2s + 3
1! ds

)
s = 1

= 2 s + 2 s = 1 = 0

b1 = 1

d
(2s + 2) = 2 = 1
2! ds
2
s = 1

WF(s)

F (s) =

2
1
+
3
(s + 1) (s + 1)

WE JF
f (t ) = t 2e t + et

for

t0

W J

WK
an d

dy (t )
d n 1 y (t )
y (t )
+
+ ...... + a1
+ a0 y (t ) = x(t )
a
n 1
n 1
n
dt
dt
dt

FKKKKKy(t)

KE

W
Y ( s) = B( s)
A( s )

W
y (s) = L1 B( s)
A( s )

- -

EF

WE JF
W

d 2 y (t )
dy (t )
+4
+ 5 y (t ) = 5 x(t )
2
dt
dt

dy (0)
=2
y (0) = 1,
dt

W

W

s 2Y ( s) sy (0) dy(0) + 4(sY ( s) y (0) ) + 5Y ( s) = 5 X ( s)

dt

(s 2Y ( s) s 2) + 4(sY ( s) 1) + 5Y ( s) = 5 X (s)
(s 2 + 4s + 5)Y ( s) = 5 X ( s) + s + 6

X ( s) = 1 Wx(t)
s

W
Y (s) =

s 2 + 6s + 5
s ( s 2 + 4 s + 5)

s = 2
Y (s) =
a1 = 0 ,

j, s = 0

a1s + a2
a
+ 3
2
(s + 2 ) + 1 s

a2 = 2 , a3 = 1

W
Y (s) = 1 +
s

2
(s + 2)2 + 1

WE JF
y (t ) = 1 + 2e 2t sin t

- -

t0

EF

W
W K
t0x(t) = 10

t0x(t) =-3t

t0z(t)=e5t

t0x(t) = -10 E
t0x(t) = 2t

WE JF
t0z(t)=10e-7t

t0y(t)=10Cos5t

t0w(t)=eatsint

t0x(t)=2sin3t E

t0v(t)=eatCost

W
1
s (s + 1)(s + 2)
s+3
F (s) =
(s + 1)(s + 2)2
13
F ( s) = 2
s (s + 4s + 13)
F (s) =

2 y '' (t ) + 7 y ' (t ) + 3 y (t ) = 0

y ''' (t ) + 4 y '' (t ) + y ' (t ) + 3 y (t ) = 0

- -

, y (t ) = 0 ,

E
E
E

W
, y (t ) = 0 , y ' (0) = 0
E
y ' (0) = 0 , y '' (0) = 0 E

EF

EF

W
W

- -

EF

W J

K
K

W J

K
W

an d

dy (t )
d n 1 y (t )
y (t )
+
+ ...... + a1
+ a0 y (t ) = Kx(t )
a
n 1
n 1
n
dt
dt
dt

WKy(t)x(t)
an s nY ( s) + an 1s n 1Y ( s) + ..... + a1sY ( s) + a0Y ( s) = KX ( s)


G ( s) = Y ( s)

X ( s)

K
an s + an 1s + ... + a1s + a0
n

- -

n 1

EF

WE JF
W
5 y '' (t ) + 2 y ' (t ) + y(t ) = 3x(t )

W
W
5s 2Y (s) + 2sY ( s) + Y ( s) = 3 X (s)
W

(5s 2 + 2s + 1)Y ( s ) = 3 X ( s )

Y (s)
3
= 2
X ( s ) 5s + 2 s + 1

G ( s) =

W J
K

W J J
KE JF

KE JF
W
KW
- -

EF

KEFW E
KW

W
K

KW

KEFW

E
E
E

W J J

K

W

W

G1(s)

KE JFG2(s)

X(s)

G1(s)

Y(s)

G2(s)

X(s)

G(s)

Y(s)

KE JF

W
G ( s) = G1 ( s) G2 ( s)

X(s)

G2 ( s) =

1
s +1

10
2s + 1

WE JF
W
Y(s)

10
G1 ( s) = 1
2s + 1
s +1

- -

EF

G ( s) =

Y (s)
= G1 ( s ) G2 ( s )
X ( s)
1
10
=

s + 1 2s + 1
10
= 2
2 s + 3s + 1

10
2s + 3s + 1

X(s)

Y(s)

W E
G1(s)

KE JFG2(s)

G1(s)

Y(s)

X(s)

X(s)

G(s)

Y(s)

G2(s)

KE JF

W
G ( s) = G1 ( s) + G2 ( s)

20
s+5

X(s)

G2 (s) =

WE JF
W

Y(s)

10
s +1

10
G1 ( s) = 20
s +1
s+5

W
- -

EF

G ( s) =

Y (s)
= G1 ( s ) + G2 ( s )
X ( s)
20
10
=
+
s + 5 s +1
20( s + 1)
10( s + 5)
=
+
( s + 5)( s + 1) ( s + 5)( s + 1)
30s + 70
=
( s + 5)( s + 1)
30s + 70
= 2
s + 6s + 5

W
X(s)

30 s + 70
s 2 + 6s + 5

Y(s)

WEF E

H(s)
G(s)

KE JF

X(s)

Y(s)

G(s)

X(s)

G(s)

Y(s)

H(s)

KE JF

W
T ( s) =

G (s)
1 + G ( s) H ( s)

WE JF
W
X(s)

1
0.25s + 1

- -

Y(s)

EF

H(s)=1 G ( s ) =

1

0.25s + 1

T ( s) =

Y ( s)
G ( s)
=
X ( s) 1 + G ( s) H ( s)
1
= 0.25s + 1
1+ 1
0.25s + 1
1
=
0.25s + 2

W
X(s)

1
0.25s + 2

- -

Y(s)

EF

W
W K
y ' (t ) + 2 y (t ) = x(t ) E
y '' (t ) + 20 y ' (t ) + 6 y (t ) = 9 x(t ) E
4 y ''' (t ) + 5 y '' (t ) + 2 y ' (t ) + y (t ) = 3x(t ) E
y ''' (t ) + 3 y '' (t ) + 6 y ' (t ) + 2 y (t ) = x(t ) E
W K
X(s)

3
2s + 1

5
3s + 3

Y(s)

1
s+5

X(s)

Y(s)

2
s +1

X(s)

4
3s + 2

2
s

- -

Y(s)

EF

EF

W
W

K
K

- -

EF

W J
K

K
F

KE

K
W J

W J J
W
y ' (t ) + y (t ) = Kx (t )

KW

KWK
KWx(t)

KEFWy(t)

K1y(t)

KKx(t) E

Ky'(t)

W J J

- -

EF

sY ( s ) y0 + Y ( s ) = KX ( s )
W
(s + 1)Y ( s) = KX ( s)
W
Y (s)

X ( s)

K
s + 1

WE JF
W
0.1y ' (t ) + y (t ) = 2 x(t )
y (0) = 0

K E

W
Wy' E
= 0 .1

Wx(t) E
K =2

Y (s)

X ( s)

K
2
=
s + 1 0.1s + 1

WE JF
W
R
+ vR(t) -

vin(t)

vout(t)

- -

EF

W
RC

W
W
vR (t ) + vout (t ) = vin (t )

W
vR (t ) = Ri(t )
i(t)
Evc(t)=vout(t)F

i(t ) = Cvout ' (t )

WvR(t)
vR (t ) = RCvout ' (t )
WvR(t)
RCvout ' (t ) + vout (t ) = vin (t )
RC

Kvin(t)x(t)

Kvout(t)y(t)EF
KRC

K1 K

W
- -

EF

Vout ( s) =
Vin ( s )

1
RCs + 1

WE JF

qi(t)

h(t)

qo(t)

A
K KR

W

W
qi ( t ) = q s ( t ) + qo ( t )

KWqi(t)

Wqs(t)
K q s (t ) = A dh(t ) W
dt

qo ( t ) =

1
h(t ) Wqo(t)
R

A dh(t ) + 1 h(t ) = qi (t )
dt

WR
AR dh(t ) + h(t ) = Rqi (t )
dt

AR

K R

- -

EF

W J
W J J
W
y" (t ) + 2y' (t ) + o 2 y (t ) = Ko 2 x(t )

K??W0

K??W

KWK
W J J

s 2Y (s) + 2sY (s) + 02Y (s) = Ko 2 X (s)

W
( s 2 + 2s + o 2 )Y ( s) = Ko 2 X (s)
W
G ( s) = Y ( s)

X ( s)

K o
2
2
s + 2s + o
2

WE JF
W

y '' (t ) + 2 y ' (t ) + 5 y(t ) = 4 x(t )

K E

E
W
o 2 = 5 o =

5 o = 2.236

- -

EF

2 = 2
K o = 4
2

K=

2
=1
2
4
K=
K = 0.8
5

=
4

o 2

E
G ( s) = Y ( s)

X ( s)

4
s + 2s + 5
2

WE JF
W
L

+ vR(t) - + vL(t) Vin(t)

Vout(t)

W
RLC
K

W
vR (t ) + vL (t ) + vout (t ) = vin (t )

W
vR (t ) = Ri(t )
W
vL (t ) = L di(t ) = Li ' (t )
dt

i(t)

Evc(t)=vout(t)F

i(t ) = Cvout ' (t )

W
- -

EF

vR (t ) = RCvout ' (t )
W
vL (t ) = Li ' (t ) = LCvout ''
WvL(t)vR(t)
LCvout (t ) + RCvout ' (t ) + vout (t ) = vin (t )
W LC

vout (t ) + R vout ' (t ) +

L

1
1
vout (t ) =
vin (t )
LC
LC

RLC

Kvin(t)x(t)

Kvout(t)y(t)EF
o =

2L

1
LC

K1 K

Vout ( s )
LC

1
Vin ( s )
R
s 2 + s +
LC
L

WE JF

KBKSpringM
KF(t)

- -

EF

KSpring

F(t)

x(t)

W
F =F (t ) FK

FB = M

d 2 x (t )
dt 2

FK=KSpring x(t)WFK
FB = B

dx (t )
WFB
dt

W
M d

x(t )
dx(t )
+B
+ K Spring x(t ) = F (t )
2
dt
dt

W
x '' (t ) +

K
1
B '
F (t )
x (t ) + Spring x(t ) =
M
M
M

W
o =

K Spring

M
1 B
=
W
2M
1
K =
W
K Spring

- -

EF

W
W K
0.1y ' (t ) + y (t ) = 2 x(t )
y (0) = 0

K E

10kRC

10FRC

K20F

K0.083

y" ( t ) + 2 y ' ( t ) + 2 y ( t ) = 2 x ( t )

K E

RLC

KC=40FL=4mHR=25k

- -

EF

- -

EF

W
W

- -

EF

W J
K

W J


W

KW

KW

K W E
K

W J

W
K

W J J
KE JF

KE JF
- -

EF

E
K K

KEKKK F

K
K

W J J
E JF
K

e(t) K

K p(t)
K

- -

EF

e(t)

r(t) +

b(t)

p(t)

c(t)

KE JF

KW E

KWc(t)

Wr(t)
K

KWb(t)

FWe(t)

K
E

Wp(t)

E
E

KTd Ta

K Ta Td

K
- -

EF

K E

K
K

- -

EF

W
K

W
K

Kr(t)

Ke(t)

K
K

K E

Kb(t)

Kp(t)

E
E

KE

K K
K

- -

EF

- -

EF

W
W

- -

EF

W J
K

K
K

e(t)

r(t) +

b(t)

p(t)

c(t)

KE JF

E JF

K
K

W J

KTTL

W J

- -

EF

W J J

K

W

KE JFK

KE JF

KE JF

KE JF

W E

JF E J JFK

E J

K
- -

EF

EF

EF

KE JF

KE JF

KE JF

W E
K
EF
K
K

E JF K
K

KE JF
- -

EF

W J J

K
JFK
EF
E

KE JF

W
F = PA

KNWF

KPaWP E
rKm2 A = r 2 WWA

K
K
KE JF
- -

EF

KKEF

K KEF

KKEF

KE JF

W J J

K

KE JF

KE JF

K

W

KW

KW E
- -

EF

W J
K

E JFK

KE JF

K E

KE JF

KE JF
- -

EF

W
K

- -

K
K
K

EF

AC motor
actuator
analog
armature
automation
block diagram
bode diagram
cascade
characteristic Equation
characteristics
chart recorder
closed loop
compensator
control system
control valve
controlled variable
controller
critical damping
cutoff frequency
damping
DC motor
delay Time
derivative
derivative Controller
design
digital

EF

disturbance
dynamic
error
feedback
feedback path
final control element
flow meter
flow rate
forward path
frequency response
gain
gain crossover frequency
gain margin
hydraulic
input
integral
integral Controller
lag compensator
laplace transform
lead compensator
level
magnitude
manual control
matrix
motor
open loop
oscilloscope

EF

output
over damping
overshoot
parallel
peak time
performance
permanent response
phase crossover frequency
phase margin
phase shift
pneumatic
polynomial
potentiometer
process
programmablelogiccontrol
proportional
proportional controller
reference input
resonance frequency
response
response curve
rise time
root
sensor
series
set point
settling time

EF

signal conversion
signal processing
simulation
specification
stability
stability criteria
step input
stepper motor
summing junction
system
tachometer
take off point
time constant
time domain response
transducer
transfer function
transient response
two position control
underdamping
unit step
unity feedback

EF

1.

Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall, 2002

2.

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

3.

Ogata, K. Modern control Engineering, Prentice Hall, 1997

4.

Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley, 1998

5.

EF

J
J

K J J

K J J

K J J
K

J
J

K J J

EF

K J J
K

K J J

K J J

K J J

K J J
K

K J J

K J J

K J J

K J J

EF

K J J