> AN conta} systems nie clorlt Study Akeuh the eign OF tre system. sist we ave clicete about the ferformance OF a cystem- > for Findiug the ferformance of | contol ystem We ave. usta pu) mathematical prayers - einsone Tranter fun, aI state space Snatysis - for) Any syslem we ate appINiNy Some Signal (0) alfurbarce AS an tpur ard theo we can obgeve the Performance 4 en i > when & switch f© ON ©) oF -it ofl fare Minium Hme Ce yew times so =Ite wil andiatye “Step Stynal “> wlhen we control te requiator of A tan. th i ghee Ramp signal: > ~ CONF AON ing ©) moment” OF Ate From qround _fioor to Top Alcor & vice veyas will hows Pasabol((c signal’ - > they a Perton fs touches , then we read q qe @ fowefut Punch to him: Ap he mecver apter sometime then he & Stable omerioige umpiables thie stqnal fe called "dmpulge" stapittty fe not OY Boundesl InPur Bounded eutPel™ concept AT can atm cleftnedl 3g when a -cystery © Subjected to cudden shocks / if the tystem fs yecoves to tH OYA State -—HeN -ihe system #€ catd to be “eteable’s Olnerwise syste F emstable + Sal ~ fe TEM 3— Fask-li- apfreduction to Cone SISEM wn A. constler a Liquid level contro! System whose contsioh obfeckive. %¢ to maintain wates devel §9 the tant ara Prescsfbed height conteolies. & AA automatic clevice sity error gtynal_ LS) as input and controier ofp prs) grpecting tne ay names oe. the plant to achfeve conte! obfective: enefore conhoiier ofp where e= En710% a. + the aleeperent mocks of controllef operation asie PorePor Honay Proportional + Anteqral and Proportional + antegeslt Derfuative-4 Theaeare two Basic ental loop configurations - A) Clesedl loop toe!) Feedback contro) system :— An this confiqusation the changes in “the outpur are measured “ty Feedback and Compared «7K the anpur ©) a set poh to achieve the antl obfetive: i: EJ sale ak % qmanuall cont on [ e oo ystem: Since by cbse she. geale Af the water level fe Qetated from SerPtinF then man “ll OPenate the conrolelar and make fr to wrleel- Element” Manual Control tyiten? foe mating at wae have to yee ‘selon: controler”. pasicanry automatic contiones tl Ofer ly for glectaeal geqnal so for converting =iny poy Non~ Electrica) avaantity fnto electrical yuankty wel tave to (fe "Transtoleer! an : a Set Point 7% zy automatic control cyctem 1 —Soutlel™ Font cota amos Pate t——S}_ contol fees Ale RS) ————} Measurement tevel Transedacery QE feed E>Note: Basic Thing %@ the. Entire contfol scheme Fe mecsusancnt- We meacuge the water-level ind then whi i qiven back 0 Ke system = feed bact + ” "so feedback &€ poting oat mearumement : CONTROL CAWNORSIICAL FORM Eautualent Medel ©) ot K(S)= RS) BID) wets Es) GCS) GS) = (s)-BO) Cs) » eayuneatentencdel == ges) CHE) peeing t eo ae)_ |< gis) OY E40) V esyeyts) HO) a REsyeus)— © 505) = Re 2 cra aot) = , ape @ 1+ GqcsyHts) yn. Orentoop contac) aSustem S— Ties tonal ¢-S) “Ceasically open dooP +S & A conel! * Att: a conditional contol system Formulated under the Condttion -inat the. Cystem fe “nok Subjected to ary ty Fe déstusthance” « : See AD ty cong tquration athe feedback (0a) meacunemen fe NF connectecl -to the -fesward PAIK con) contoner Cofen look * Feacl back GM an opanbooP Syste entaept FOr cleeplay Tey the. Twgeomation akout the Olp g no major Seynfpicance» tke Anstgntficantneds ef feed back € teamed ag — Semoval of. Feed back + 4 cTenjoop syste Ave more stable than Closed oop systems Cwitholr disturbances becawe the efped— of feed bak fm closed Jeop systeng SE that tt tntaoducet clelays 02- lage loge Aeocning. ove All SPead of clasalteop tyson ~ S you). cor) ‘suggtsh’sPerformance Analysis it nor applicable for ofenlog> syshomg because ney are highly ctavle cystemp - Yo «mays ste, FB fe Negative har que whelhenr “the Waker tevel & ff h ©9) low to the set value + * Every poalysis meant uly Foa cleced teop control cystem Since. i «jae ks ( Fntop cero ES eO Cath) GTB) whese = Cutten gain ‘ x poles as “_ _Pojge_ cor) SGUISEE =f aut shese are th E puch wot MARE he TE OO fo zels!— these ve the corttcat -Freyus which wil MA s-Plane iil onsen ie ari tee fe conical fe#10 Eqn the Terantfer function of Linea) Thme frnisffent” (L:T1)-tyttem may be defined as “the aatio OF Laplace brantfom of ouput to the faplae Fransfosm of anpul under~ge. assumption hat anfHal condttions ane selaredl: + Poles amd eases Are thase caftical Ferequyenctes “hich mate The rrantfer eunction —antintty (ea) xe90° Dequaalty -Gunctions + Tranttes -Cymbins 2 “the slanclazal Time clomine test signals are selvent Examples Of — Stngulanity -FunctOn’ +p lepine the Trantfer-femy eb ea al “ * * rep Signal :~ ors: Step _siqnat : Sen contro) Systems» AYE nth) = A utt) A ee ave tareg reponce. “uth = 1) +30 re aas : =0 + té0 ieee ane! a s wl we e ates Teanctorey t Vesa tz=oX NOW Rig)= a Renip signal ila rth) = AP 7 Bo ytt)= ary to pt c= eer eS) Var ee” il sreoret" Jee Rts J= t Pa e oteee ee J)pte aL +h, * 8 ape SID te @ 4 ine (st sie Sreacly ‘tare oe Gath of. THE I ~Lme condlant foam sty be Bt Or5 ©~-1 OF j= 5 Be get He gol! 1 = a eW = oF Bar tet ; = ettget Let) AR rrpetietiiape lias sureey) SSH ese a(stt) pes THO 2 -H(St8 sta) (Stl) sa (542) S41) Ab The constank-foom #£ nang Wen then cpnoaees FE SE Tes —# BTN Ars ots C +78) / aA er gyend) wt te ie paler oc gait oF a unity —ve peed Lack Lysteny We cloted oop TE “ott 2 @u OL OrOs 13 a i 8 ay) . su eee Hah) stysts oor GO . se owe 2 uy 1 1449"! Sp 1S C® = (e418t13) GO) = gin rerese - Se eos) Ste Bese 4 tests ae oe put sO (since for. 0c $207 529) SOHO ST ig 6st GO= KF ot4_ = 2y,. oat 4 @lo)= x Iter = >Alntteduction +o COMPENSATORS 3 — Compensators 49 cortaic\ systems ave use fo Improving The Rerfoamance spectfreatious’ ue A viol ie i i Charactenistics + they” are 3 types ee fare 4+ LEAD COMPENSATOR :— A used -fo3 ‘mpooving "“toangient stake — charit Gr)" speed oF response of system! Network Representation s— And, = Rt Ra Yyis)= 1) Reni t J q = 9 4Rit Ri Recs ce vcs) by yes) = Disrf ey peet Ri Pe wis) ( RiCSH NOW Vy (d= a(S)" Re YY, .. T=RCy os Attenuaton constanF = Re xe!) RAR Ry tR- pe = Re CRCSt ged Care) ( + eyeats — ores Silanes” ete ( | oS) = x (itt) dorsi ‘ wo) Citas) 7) a2 one ‘ = geno ab S= sol poe dk s= ar - Adding a zero to A -cyttem TF tiem? oF compensa nePegent “LEAD COMPENCATOR™ - a i re oe _, nefare lead compensator applied See a eh mal ar 7LAG CompeNsion — , AE 46 usecl foo Amproving the gteadly state chasactefstics OF the system te sl\iminaton o Sol L| saput and conti n f Ste ly state ean bf R) vets) = 2t5)( Rr R+ zs) yo) nat vols) = ats) (ASRS) be Xs 3 1, *F 4 vols) = x) ary = 165) (@St!) ap ent red re ‘ Tres MS - _ges+l __ XS) RSE RST] , TROUPE” BS (pp OE C8] perameer S ae TES jE RCS i apres R2CS ( RRA) Re ai Meo = 1478 vz(S) pts zero at s= “he be foleat sz Sper AE spectticaly acted fom Aileling pole 0" ainy TE, we eon WF fom ay ampensatoar- Tes NOS Aecklitg qhe foie FO5 the cystem T Compencatorg mepaiesent jag compensator * Lsan= tag Goa) LAG LEAR CORIERRSATOR “At fs used 6 AmPai0ving boty steadystate 4. Transien gesponse charactestistics of “he -syctem - : Ar cites ban Magnitude 3, Phase Chasracteaitg Hes of. lead § tag Compensatnas in tt Faeyuency response: F. fnverms OFAmy, tte be fe Vet) xcths) CBS) cS) Cetomns) ( r+ BES) — 4y An my contziel ater east gjimfnatiod of e701 doe & “hen cer speed of recponse i Tmpaaedl ‘(ar & 9 peafed- Alestyn of- sytem) be Fiat lag compensator and then Lead compencatomt See Wea simultantouly * We clowlte hare tod Conpaatatoye: For wead= (9 * tay Leal “Compentatoa’ loth have came Nini + hi fe “Cendatad Ny there Eno change in Nin FO hile An case Of- Eilers ¢ Band pass, wand stop) We may Anferchange the NJWL Rycr gO combination + Bur here we have only one fw je eteth head Nia (RIG) »3 then lag (Retr) + thE fe stmtjan to PEP contaied we dodh have BLP, TDP ”* Heethar sg the Nw % acteandard + MECHANICAL SYSTEMS 3 _ AY mechanical tysrerd having 2 & mass & fourclop - €atiction We caulk Sees 60 FE fe hepaeented ¥y -ar pamper SHINY Face aeqputrest to move duster amd Aron piece % nok “ame: ar defend? on stiffness» so it & nepresenif a spot. since _apanqs are clacttied ‘into 2 tyPet i Harel 2° e njealy * Hardves and caprrese of objet which — “momen wth be done: $¢ alectcled , #9oe apres : c Pa A aecaNat: pahares- siete anpul” = eeace outputs (fnear dtepletementt) (03) Linear veloctry a) rp seene she 3+ ddeal clement? AN re. arose seyemenst are OP —" onty amtect Ls MASS ELEMENT: ; Ba Qamperetemetti— a) Sort gjement f- mm oe er oF ee DH “ ene at hm a Hen ar @re May CEM) Ore tor) =v @FEK frat ®r= ma waren ¥= ek fvat ar ea f AO z @F ea oe © reece) =peat phere. Pat eo where =m Xe ote ope eb ae —1 => “the Damen clement tf mepretented by a cytitdes- cath PeEBP WY douiel we Prefeny Aire tha onlf 7 explanation fe when A etter (ors Pree %& placed fy our hand: df some rorce & eaied we the dale » only obseck ofl! mover bur The Md will nor moves stationasty « Thatt ae ste psecerti Was Pitter wtih cyttimier wae Thatt ay we ane 71 ne @ mechanical Rora Honal System $— anpur = Tose wy 4 outputs ANguIad Displaceme NF (6) 60 argu velocity (+9) =the Three Adeal etsmenls Aa Dapenbial emer: a) paper glement — 5) Tontional SM] Elenat- y tee y oe T at RSS Sy He: Were eee TE f OE Fb ts @ tz Toles @ Te Fly =F @r=kl* dt © += ate vahere igs bo “2. @T= ko 2 © t= 440) - $98 7 fOr = SE : where. = 6-62aDantogeus SYSTEMS 2 electatca) Sayuivalenty as Analogous Systems * mechanical 4 paint yeaaclahonal of. mechein(eil elements ae Termet mechanical, sfgrations! Ts TH Et B Te 7 gas oor Kies =Tie+ ade re 76 Electarreal Sysrem :— ee wa gate aa ve a R e oe 3 " . 7 “] fe Tb ye Wyte = gts rere fat cae ret ther ind cascharqe) ved co = He) ve en Ree -@ . fe cto ryder? © ate ae : et ES. Corypoating 20 OOO y Fea ; ae ae £ poset! F—tr—v—t ae a etemenkt de BI ete HOI mass & SPF Bu ep yenaan 3t * consent Ne RR KH eee ‘i Be aaonr assed SF ap eet oe yo Lay ero 2 C= wv ? vet ny va 9a an geet 1 OY ee =et EnhaTE (CH) Neawe IN] ILHTYYS Wye cjaIe- connect] Come device bly the ¢lecterfeall mdva and load - apg mechanf@l Gear are —hese clevices which sae “ed fos slepup ©) stepelown speed (A) TPFIKE * athe uceal fi eae ted ame SL tnteamealtale element Hy electatoa| whey ave avalojoys 10 electvl -rentformet ©2) Amplitet and Buffers - Ne Notof Teel’ on THE eteurferance Gea Geav wheel” ye sadtout of Fearwheel ¢m) = Angular Depracemet (rad) ore Te Teaque O4 Geanuches (Nm) ~O = Wee ae Le ow Al Yo ~ Fo Two Feaendhee “e gpanucbe! epnnecred 17 Sears fon_ Gate hie "GF, Load side Nite Ged? got Se @ T= 1ON- ind Te 4B? 9) @ 191290 vad |see Find as? = IL BR gir oO N Nt =) too J8 5 25 Ne a ) 0 ede am Ns Th pie TM 5 _100.. = Tr 2n~M me? ees CW ® w= be 9 we = 100 x20 = oo rad]see cecw) No 30 Wr W\ ; va) Nt 2 wz = 100 W200 = lorad|see CC Oy a M3 “300CEENENUDS 5 Dupo 9 TL asf 2) ny=No> These % no clewge fn ¢pecl (00) roryuie- =—) => Tr, = Motor Toryue "= jose on -Gean-| auelo ™ Cweay) t= Torwe -" Gear-2 duet? Ty (n-m) TL= Tore « Gear load clue to CNY me nave +51 +1 To Ne, % do 5 en AU ret ean ge + gr TON ‘ dO> yn ¢ Tre TVG B98 + pd@t+ Ay SE Tae ‘ y No” dp ee ar oO gqputvalentr Faiction and anenHal fom motor Side Gear t 1. &@s Ge be = Nye So a za 3 2 Oa* Ta) F 1 1 oe = = aye We ve dat (M+ ae Ni” p SOL 1a + BS (my 3d + CR) Okt cay TH (97 Ge) a en) $8! + (RE) T eet ( yeonal METHED t— #NOLOP nooleg = ND!Of- dfeplacemenjx* 4 Take an additional rocle whith i sefenence node # connect the macs (0%) Anenbia sementé betweeN fre Principle — node ¢ sefemence node: ; * connec the (paying 4 damping glementt efihes_ bbw the. Pairciple rode g veference clepending on their Fasition: * obtatn ~ne yodal ataqay 2, werfre he clecesiflomng nodal — equations ar each nocle: LOE Nodal otieag rainy. Yn es md eae tyre l >) = Mode Kp HM) in Tet 5 he oF (%a,40 = s 7 2) nis) * ales eee CMS FS +Kpy YiO7 (et se : cs Oe (MS Kit) 2 wr Vi) y= (he ___\n@) o> C a a e Oe) 1) 4 p= CMS pystretee) nds) — KR Lager i (ene gist ERA) CMa Sake) — Bey Co) = yeroe HEE ERE) Cm ED) ° Mg St Kin eee a eo. atte gy EOS) (Qne+F s+ ker Rig) (mys) eA order = 4,~ 4 MALS Semen) 5 orcier & 2 Mase giemenh _, order B Mall clemn _» orler6 A 2 fr -) order Qn [Ana Kier 9 order a) » Fosice - - voltage Analogy 5 se Mt yak a Reb + uw as we Te ' 12. ore set VV 4 Ga, 7 =u eH yz fit he aha) tae [bat oe fetid a Light Rite Jidt +o scr by o= dk ¢ & J Ao dt a R ¢ te v 2 4 Da B- Force — current Analogy 6 a) Py Pe g=- afm + ge ge tu or ee O= adt + eo) [ Ge we ae » 2 Jude a> oe 7 b= fudt iY = Gd + MW et pete for) +) ae O= cos Tir ~ Joe’) ar or@ the root 1oc4tions of thYee underalamped eyctems are x shown + which of the Following will gahtbil- same overtoot! ® xen} © f a ——» k ; seem * x x Skabisity Anceares ctabnity aA the Poles dlecreaset ctabot ii hy 0 Ce yee 7 ¥¢ Game ' From #q© 2 oe er © att) 13 = ett) for xtt)= t uct) 7 ett) ) Br ewe — xy att) = —eltt)< at e qi —es)= SHS) =; SSE oe a os at et a a a _ ees Steady stare vaitue of z1 ()o ef 2) @) or07 @shady seve vam er ~ 7 yy : need Exprestiad 407% ° ; = — ccs) kB ; nierele 2 gerne [rt 5) - (Sige tar = f z+ [ie i Ree © (Sp agus +h) 2 ¢ 4 2gimst 4) ze op Catena gece ERIS HE) FC pS Fn) Or tr See Fie SL (sh eaten) tl Ir S70 pir =ly... R) Whe a x can be gindout &Y Y4I09 gr Fb qr P— Concept also: —— Sea aginst oh) CPST Ks) [ws aad < CFS LE BH STAB yom) AF Caper hase “ - ” ven apagnst)] Az 14+ (kp n te6. + als 00 SH, a RATBA> up + RAS ) : | prion (ke) + 00h .) ae ee ©) Bangers, Ro) res Z* =, | =conventions a Ge ce = seta) Cs $254 Dt K(St1) =O &O z Sigh fox orawstag the rect oes ce sears OLTF* © oles — Ket) = qes) HOS) we SCStO MS 4 254) Pa, 251, p-2m3 260 36IF ’ 4) Ady mprores Gar 300 =O" Jor cgrenen 3 = +46 6) “tere 1B m0 chance ef to meet the FIG ar ary poi SO swat -ihede f¢ no BAD: gee > OSB + 1S” TEREST ED sty ro ©} a fe ‘(eo ez ets 50 = SE He O e -6/ i (22) p2o epee ° ay? ore *# ce 16 ° 2» & _ ou 18! ) r ay Oe et volta ene =tmar « au AG)= (52545> 4h O ¢ 6 ic Tie eX Sie: 4 (52> Semin a 3 ge th3y eas NOW the Atymptcre ae on fo an E> Y= 7Ando 7 hae o-T3 (9-88 7 ap ico l= eu = TAN La ca]whys OF = ONE = 26:6" we NO oft all “hye Anfosmation we wot) zed ~fhe sot locug . Fo cre2u 8) Range of K for al ff we 2) } @- wwe Ke 2st. ee 6) BAP ») — er -S = 5 SH) GH 2$45 geo 3 gr 5SRSTES IEC = $= 38) 0'4 2) og HE) SCM SHBEI FEED =O ae n ' ff cor? Study | Ge) <9 5 Fmar 20 o lesea) 0 5a ‘) : i keys . ol 50 (sk-l) | o or G 5, a" i” aan a> Ange of aenitale~Pye 1O—G = so — [I -CBHIY = 200" with au H th . * hE fofoamation we wn now ala the root locets der « fiod Gain’ fo §z0'5 2 ndtere * BF xb) 0-60 = AoxI or tat we have te take appropriate sale ter. on parte g HOE cone @) esy= ee i $¢(st3) (544. BST O'S) oo 2) PEYr 20, Peel pro, 8) Csr » rhs, 6, = 155" een” O3* 9) oF pear cBte® = bt) Ces 4Ke0 DCR ote BSS 1355,ge 4155S ke 76 ese aes HsbotBe TT rhs Ss = Se Hg 5! . cme DY stie 135 K le Be © oe sl a DY BAPr cra gsc sr sstes)= ngepgias a | prey} eek OR=2'D Seal \ oye iucog Then “me value of K of Porat P's Gain KE Reikascoe Lets PGE |= 7 i ee Tenn 20 ' = ceaced) = Cue Shp Doves of =ysterns havieq, Dead Time ©=) TER Fan wl Aas aa Taanpoatatoy JAG F— ie ef cunnet We ave tarig an typ a 007 mtg Gunen Tur the lp ws occu vin a dela oo e of etme ‘4 pple im : ee Pe “fO3 4“ opersition we eve qntonected| te decigrw he syctenp wlth an Headrime- Ae peadtime © pent ther now the TE wel be Aprear— woe ofl) Bee * OA cue b— op er) =P att) £O5_Cuwe EI ojpyctl = weet) Apery vaplace Trangpo ytsr= & ST xt) Yor “this. SE the Be of 2 Syste) woth peattime «3+ rime dominé Approximations— Crome Domine anaryit -e-M) RL) IER (ET) = METH + Dy Re we are tartng upto A paler el « cinge Aappapitua Hon ay Complex APY YOu are taping “higher ovelett - : =) Yb= Xtt) — 7 ACE) Y= xf 1-15) yesy= XG) est} vie? -s?) = Za EN GIS)= _KE Cus) ca seis) = “Sests) we ey 4 pedal rime. FE tne Ome of the nonjinesan! CvEEN emehee fer amy TR » shund nob having the = on RNS OF S-Plane 2 sinke te tystem wt) rede” To non Mfneay « Af pe -npter having the FOIE 0” zeas on HS OF S-plane (spectticairy Xees) , men re -cysrem) & cle "ron mivimtt Phage sysrem * Ab poles 4 REA ame LE Or LIRSOF Splanes Sheer a f& calcd” anintmuny phate Lystem” + P10» @y t- Minn phate Lys" 2 Gis KOE soe inh phase cyslen) 7 Lou = = ce) 8) ~ man Meike - (aria = 40 = — (8-190 va Now SEES “Cras (894)} C90) 490 —raticugy + TAC) pr 0h e steed Arie x eth) = FO s. sopies the. | ne Cun -carfftent ©Any systeny which SALTPT the minimum athen ft Called "yt Gpum Phase eee tyler conesta ( gx Non Minimum phele cychem » @ig= KeIS)_ se jgve + —C eae) Non nnfifmum phate cea NOW . Ye. (98) (ares) = _ranlteg) — TAA! (CH) “P? Ar we 2 rgd) = —90 ——-FO = ano = Yo S ALF A Non Nyfrimem Pheretyler ° ra SUPDRe af be ACHING ~that” alraw “the reolocus Few aleve ‘ ‘Eye. call alqu-tne rool decut fom (1S) + Since zs Ng cannot 6& xe ent Jw fey” so (i-3) factor can rot be taken at Th ge atts Our sesponsfbslfhy to tate ‘S 4 tve* so fr & vonftkenar ge RSD ngre'- stay 107 Dito etn le of tne foams. of Non Ifnaaatly + 9 at fe apporninated BF Ze0 Bisa S-PIane 8) Trance, funtHog havi poiee and 20908 qo RNS S- Plane f- speckPresny eons | ee pron as “Noo nifnimuy Alegre Functions, 4) Let 2 Taanstes -Funchonp Should be adintmem Phase unckion he “hela pois 2 zerep Should Me fn LiHSof seplane ones5) An ime domine Appiicationg since ‘¢’ can nof be We’ Cins) factoge thouid be €9pretced at —(S-l) - ieee are applfcabie oly jin Timedomine, nolm tn. Fregrdamba cute ry) Ter ces)? ee ]fertetb mngoitacle & fame - By: = “GS = Ke 5 (st3) tol i 2 eo Kucd = — KOs) pC iterate S43) SOSt3) AE AISI HE) = © + HED 20 Ste) b= qggHey=O ts) nes) = 81 a : So we can nol =Pply hye que to th FRnchon" 2 =] unen gves) the chamresy” 1 Ges) HE) =O =) Ges) HS) then we are ror gfe Nomad RL ae * : ve gain when wht eyst) =e 2 fon 2e¥E oo for ers intorat sitwationg we wf! draw complinpentary dori CeRL) ¢ gL) foot” Jocus* ae we SS we fy Kea ces) no claw RL? -Eotal- we have to Dae compyinent tt RL* nce 4 css He 1) ANG UE condi Fons gene = 6 = te). seo eee >) MAGNITUDE condi Hon: A. | | geste) | =!Constavction fut of CREE RUC NOL he eR EC tymmetence aboul “the SEINE + C Gesynes) = 4)- RYENH 2 Qsme ar RL* Bienes a pein on neal aije &K safd to be OP ae to the sigh cide of “HR Poin he sum of orentaep (218 9 ROAR FE even: UENO angie of Asymptotes — @= au) 0 pe BY 180 ee! Centrotd came as RL KUEN Break = 10a Fork Ame ag &L* REO Horencection OF OF- CRL Witty uo amit came As fel Aienoie— sangie of Depantuse | asta!” ; 2 = 180+ P gene pee 2h = HO > z since |@esyntsy= ~raragle & NOW gigyh@= | — ewgle 1g + GO™ "Sc5+3) BSL coe eee Go) = S(St3) Stst3) a) pooh! pre \ 6) Bark i¢ preseat ) pen eveer ane ZrO " sanpoint epe=) teprcide tn aL reat int‘ condi On for Savi y sya wy A a ath ° s € HK ° meee oe \ : Keowee og Gyan) B= EN s & ak oO ° @ UMITR TIONS & pirficuLTies = AN Louth Gate Asthe co-etficieniA of charactesiishic Lyn Polonoma be seat +f Positive: Qs NOLOF at change of te -finih column bt Routh arey dotenminee «te \foKs OF” Rag of sPlane: But Nother. locations: { surpase yee are wsign carget are Say onv'} 2 vols re on sit of ¢ plane, Bur B+ jajhen the AAT element of Any Koo # gem f the esl” op the Row has atleast” one Non xere Ferm 59 Suth casec _ourstitute smal, VE Numbej~ “gi inplace oF Re > evaluate Rputh aray Mease © interms OF é: check fo Sign changes by taking IE, 08 gre. Fit column) element ° ee oY when Roth a ends abnupt congtautt an anata evs AS) Atttesjentated to Get new co-étficientt +40 cowplete the == Routh artay check foo reullplicttye OF she. aust rany &¥" nooe— on fio aff comment” 69 slaiti when the tyttery FE naar inal stable bind ne fea ef oSciiations fh the yesponge -the atodlary Sy he aM even Polomial oes a t ae & Relative Stapiltty Analysts useag Rout eneng RY Utes a Of ontyn of S-Plane mere Neqalvely ard “ot feasthie oa higher vrider Poidiinfers * Fee occur, then we EH there they are We lout traeorem) ~ system on staibe — Y Rock (Kye i defined a obtatned” why locus oP ciased Ui £0: when System gain KR vested ene | an eee GIQHd) = = tt GI HG)=0 *») stk =0 sek “the antomatto? we cay qe “re wor OB ty: a ae stot pad poor, srech? pape op the All tecthe most powerful ena atestq aq cont tyre ea in" vallge af: “eo * yantatior & a se" fate va oF sun wereages | &D nee venHonal me of. ‘clrawtig OF vot looug 5 “AF —e Wal why ge ane om congteucl™ Some Ae Sane trang “the zteot locus » Forti wenn fake chart Eas t+ Gls} HS) =O = O/H) ia6) norep-ctmped_ excitations (om) Noror cycles s— eee ae 1s sami 9 (f° FE = Bpowstee (os) Hz am Nore cycles to meach 2-1 op-Tolevence Bad °) “ts” fal = 2x we Bon al Noropcytles to reah 5% > Bx fF TBD te* tod Jon at x) —fme peated :— (t= 4, see, Nole— Ss ertscucsel CHANG tO coach “the oexporse fe _ Capprotimatety) — 5T “He fe reyutsed * vets aliseuce Nth Come EXPE” sprue sf PM are bakhg the theerample "Boilin’ of- wate We we) ave Step fnpul theo qt wt PARE 5sT heat compete * rote caampe & Hety usig sreamo merest * when di chiws “the Final reading Ke ival value Tempaiatuse meattusement a afep tnput FE quer, Hen SC afteq 5T time * [Line Resse Crests Of SETS aden QSene 5 SUN NDA, We have seen Fre cecond cnde® kystery + wne’ standard ceed onder tystom TEE qren B cs) = wy ROS) SF aBpst a crane =) Sh gqons + =e AE sryystasso fd wnt Pian “yg can ke Compare ptth he ctewndlarel tect ovler.Gycteny aneg « a BRE Y- [FeNOW ind SG foo} SB-+ E9Y8S+10020 swe cant Find CIMCe how! to compare tHE ft Seconeal estden Cycrem « stat means at git ondea| (or) wafethan alorder (ary) t given we caa'k find tin eq) that We have. to follow tre foroning Techniyue 34 ¢hown below: conside) the “Wiel order char! ex eb+ poraqste 20 7 WE Hy pe wloyitteny CSHR) (S++ USth) 0 7S ler us congiales, TO-YEDE cyerer(DG, stem @ Bt" chown fn Fiquaes Wher ayes = lee sysOT Sra,” act 8) cysten®) rer) get Timeconstant * 81 £48 => e a eae a GT) ate “rime Constant” 2° aL sh 2ay 2 [tA Thar means , spe poe Neate to | ip atill > (R=) i z sta TIME to neach Fa) value goystate fn wt) Cakgk more. 7 Le PUIE mE a #8, quttkly to the fina value wy from the oaigin, SALDEL fon he. Fist syttem we can eatty obtain the time nesponge specificatont — Ciprtiyla) + Gr fx ne Lecord System We cart calculate the Ame clomine Spectficaktoys que we Hr obtain te Trangient recronge OMY Fe et = ert. ee The SignbPreance of ftast pore ' cateulate the_ “rime serene AetystS high: 9 Sigaificant foleThe Fi nificant of he pole which K fomga E2107 “the onigin , to calewlare Hee time aelponse_ Analysis # vey Lesa =) Ansiqniticant pole * he pyieg whith are nearer to the ovigin are called " Slgni-preant” poves” (om) csi POIeA” (O81) “oominanh Pole” * we Toe POI which ae fore Fm “the oorgin ave called ax ” ansigntptcant poles” “com ast p0igs Come? + To calculare the 2 41% fom 2214 onder, Tao POM Should ke on Pominant™ aegion 7 and ore poe ghoul) Me an te ance ion qhen we A nepect the ansigntean oe and then approxinat@l y to second Order Syste { VB’ if so that we can compare. pe | eee with standard aMorder TF, and then 4rd 3 G10 , Here we got one cloubl af grey are. tn Dominant refers, the’ ated poles alo Lying 7 the pominant qion on" wen wie can not neglect “te sel role £0 thal” roe Carib aipprenis 36 we cant ind z 4 ‘yo: wt for Such eystems We cP efral only the Thmerespojse. ett) * c Mike 6S) = Bat g@ 42 4 ectsyt (eo) = ¢ Star gta3 NOTE B poe HF cated Se ansigntficant Pole! ab tt ler * a akhance rom the Dominant pole fegron pee Anotmennods » Aa 4pst tErank pole may alee Gan Afrance from the aAmaqginsY ats ee We Time neponse Analyst oF hfpber ondey system ® Oot-aftned uy appara eine to. second oaides system) With mespect to Dominant Pus -time comine speci frentig - : second orides cyctem obtafnedl fon ppronimate} page" are walfel fom hf gbesr onder system 2, os; 1) rages! ese o> TO Gst5) SESH) 8) (SSH) > an ign tfrcen- Poje 1 . Sag NOES nthe Doing pole approximation Teahnique the TF must be fin Time clongnefayonl fre Q+s1) fom * Ge eaatlw Se0y NOME Aq approximating a higher onder TF to a Lowe 31 Ofer TE Fest convert “ME tnto time constant FM an Elteyinape the sign? ficany pole’ eecauge fhe fysren) gain of higher orcer and approvimated Inver onder re —shaulel be came" & Gain also ried @ ampon fant role * rata thould be Lame lePoreg afrer eliminating. the atustgfreant _fole ogee. —_—" vy TE OF me syther) -Gesy= _100___ «ester ¢ a rstel ” AAD the syerery) —the. ~CSt!) (sHoo) v5, unit STEP "]p caiteation ts | ZPProximahe setting time F051 8 Sor gis) = oo Ue Brain)” POT CEs = ad — where Te “to 2 ee i if See sep Pes tree ge Y= set Antign HOw Zon 1 fole.... dee ee | GSS RUT eine gm SHth be = - : SP wo YSt) Ss spat dampMg aatio te O28 Swz3 rad|see - "i Sol!- cbt R= 40s) = 1 Gta HES) CRE) [+ GSJHG) =O Kista)__ =O tt St+ ag yusttSPE KE CURIS + EMYED PU Gta) (s*4est9 =0 wy = CET =) = 3 ra tones (gta) (SH 2st9) =0 a ae 2+ Spare] tele 2a)+aat compare evO&O 2S ee art? O aake SAF ® ANE AF want sa™ oo 4+CH= ane +) alKEz >) ar wae = 286 acter Ks ate an reetee = 286 ns FER FONCTIONS for Physical sycteme “RNs Fe : The physical Sytem contains 5 BasfC ‘elements They ei D eesisternce, “ caparitane same. constant CREO uJ osctitatory — alacdcly cireuutedl t9 uncle , 7 ead kre <3 wit ltecyss tn root Jour: ) Reststance TYPE pamcess yalamped Pipe Ine... ue to eaickion in the Pipeline hr. is yetc tan i"heey heRv wheae. R= Hyclienlfe Recislence |, HE= ROO " [e-4), Ab anangoug to "gectaical neciseanee ° ie : noo Saye kK—y ——_ J 4) Capacitance popes + aye FIDN into te Tank he hight OF ~the Ek c= HYdiaulit capacitance chame 19 -fowrare causes the ange fne the hight evel of mt (a3 valume’) sedh 9 ges CONS 4 te » 9 at fg analegos to electical capacitance> it pce te clu FV = t= os: VO vo. x 3s — 4 oma to Cane the langen tanks, wre LTO Fe atectca] caparttance: stuce to At fe Avatogog bo he —Hysraulfe Capsdtance + ue Br Botter ae’ 3) The3) Time Constant process -— a Amount of wattes! stoaed th tank 2 Neb flowrate: gh ox alt care) - at he t'® k q, = © Sb +% put RK, G%=- Crohy h f abt e RAE REI h R QOS) = ee S HES) FN) = | ne = R @; (8) TRCS Ab % —Analegays to RC NEtHOK * RR Ee +45 ier h, tee (eta) La Ly votS)= 8)" a > Ex Wo) Tg a le = Wt) = Yes. = 74s vie) R+ hs aie Bry practical System which $4 comet nation of- gC Parameter vofiy comes under "etre ordeal -tystern By. yaler jank- = — An-the waren Tanks the ctored water wii) be capacitance 4 vale i! BE analogous te sectetance + gp i % act onden cyctem * ana loqey is toTO stusly the Joadtg |ffecr HW the two tame» we em Comnect he two banks fh two Cont Fpusra tions br anferacting -cystem 2+ Non — Anteaacting cystem * _ D agqorneting ster: ane AL ni M = cab a ay-u = Clb = odhe at ayy % © ae a ok - Hats) 7) Gter~ Qe we) Q-ay) = crs ) hi-he= RM has Bt. ep— m= ROWS ee eGo) 8 goon the. -Hayrew" GCS) = HMA sour acs) eter Hts) p= ROL) is) 4 gq goon the cawattor@ = He™ 265) = RQots? “thie, Can be Prada TY Ale’ rom he ey'®gue coo Jest guts) : v8) ay) eo hme DR nes) — Vireo Q,(S) ee j-fan-L-t ‘S, + Rs Res RS. ROS 2 = Ser é )(: = — pects? + BRest) REGO BRST eee raat ak £ * Roos are real G unequal * £0 oven damp an gntenactt rem Inaaving adden! sepmeencé Fala ire: ™ 1p ntws SE aenatel at 2 —anaiogoys to: : gg sehen are, TAO ME al a ataectty, theo e 0 “e) rXs x7 wt) Te NM never bE -fpe Prtolcl- Ae Of andvtdual TA ike aw\t toss)? INS Nw CAN be ppalyped (ex C ae) i by taddea Np moslel* FO since they ane. anreaecl™7 Find the TE advantage Of- Sygreme to® doaial effere aris ened) te Current” sprough pmesent on “her” Ze arathe fos branes ame can be altsrect!{ indo * a, R Qs Gag vets) a ¥ MS BT Yoo Vets) 3 Cuspert to7Th Yh. =? a -tygtem * real Tia. constants f= wou 3 Ipz wics to Find ys tTs= Wc 2 wr wgest YO Zs, Y= vt tees)NOW T= Ye = Vol 1+Reg) CS 5 CestROM) =— Current thawugh ‘zi Gy = +43 6 5 = Vofce Resi) f= vo (20st ros] ageind ye = gaitm™ % > yR+ VOcltRcs) Ye vl stecs ae 4 : 2 HN Ve = pC SrSt+ RCS ae ) Res 3st! wots) 2 VaCs) Gain inthe Latly Lytton are ee the Time- conctanhs ane came Non — Antesract ng systems Representation s— Tank 2 eayses he change fn ha an ‘ 1 by Fhe changes tn “hy . the changes iM Tank ‘hr never cause! the change“pat meas thene $5 No fnteraction» Here the interaction. means thal” both tanks must be eoutualllY akpendent one with_— lai nd Were he clependorhy nut hr watt nok be ctepensy 22) soft t& Non Anteractng - % NO tosaling ip poesent- bln) Them: yank -L:— —— yank-2 * aye ate n- Vo = cde aye CSL + aye cde +40 Gag “= bye bi = Colt bx y= crdhr + bL . adr OR ' ar - hye Re dhe + be RQ) =((er+4) Huts) oe “KO pilsy= Cre Res] A) L546 Go Hats) a 1 HelS) RSH} Rs} | strat tg Reels ave veal equal > fi 4 I (Rest) “ame consranks ave exactly * me tear prevscallly ik 8 ae potttble? ROCAULE we goal made eradty POO Adenticany things ° an prackical ftuariows +e non — anreradtng systems phe COCA lampecl tyclem 8 neve, exc » We car Jur anagin Only wor Seen, pracicalid , since we can’t made “0 sygreme witty adenbizal pavameterk cy with aelentical Time — corstantgs fer example «AP we are consider 00 Tanke ie & not possible to aie) maintain fre herghl of the. warer he areafvoiume CC Contyol! TAS Iv tank! rank) + | aed + * te te ners Se Non interacting system having Adentical rime conslank eatle | Presenys||| (3 cae damped -system- Ve “ing (4)pnaijoug totr iB: Ap we comneclivg RONWS caCAdNg fr behaves ay Non- antenacing systems so ray we can oan he TE of recuitan| ling Nw : : fF reeuitant caucadieg NJo aw CRC q & —wW_— —_M yp se c one RENT Bothes RENIN * yaad wwe dente connec” Oth Nps arechy ssince A ec 2 connecting J=they Wil ee Come dnreniacHing, ses * nod) fon mating both the Nfio Connect oth the fyrrema by ust which wit atolares Eto the ngs ay ron anteracting syste a coupling element, “y MofS) KE yc) Ref " wrene. x’ f¢ coupltny element * So thar they in be Non antes acting Sysremé +ee hich One OF the oll! fs he 3es 2) LTE System atescaited ‘ eae ae Ye) Of causal] att) = 6 uth: or oH fo1 Qiven i/p a = Stl = yes) = 41S) = -t x¢S) ost) xcne & a wif) x be wo eS)=7EH we yee GAO- ¥e ast OY as ~ eee YG)= aye ~ GHA yey= eT seluto yes et sir uy fo Gis Gs) = 10 on) SH 14St50 =S &s = ir gt: = __= 5 =0'83 2 oo ow 2HOs a StH lyst 5D solt x Lduby = TF arree s25x8 __ SEPT (st 5y +8) > gost $9=0 ce cetste =O ine VE Inna [see as ee ee 2gno= 10 gs a aw oa 4 G05 3 30's 2° 6 re gionsd =O >) ste ustrao vont aan f rege eT bo eet QO = urs cst) Ou DIP = 2+ pe tae Ty Ge nee) _ scsrar (st) 7G etuth) >» Fe ob = nes wot = Wt st Sh Sesta) (St) a re = ete be IH -e sto) We 2t pelt £E BH : _ $90 gst Beste) poeHe = = Be = a=) Hee 2tmes] = 6 at : eet TES eer 5 cette 8b cH (stays) oe ce=y unit $hep retpongse gt ct = \-e — Ste acis)= L- Ls 5 Ss Ste csi TE - ase Sst) SS S ste) Hh pe => pres 22 h PHOS so) pes 6 st 4 SHé ae ere = EB see qa02 i SP ag nrg | E ou gi 1b His) = excited by toulh), she rime at Whith te oye olp reachet 441+ op steady clare value: 2) so) ecsy= 10 _ 5 25 =oll> — “ser OS aa: steady state value & ‘5’ agnor > 4295 sti-et]= 5 =D b= ance Qi & certain first order cystem tntttany at-rest & Subsected +o sudden input ar t=0, db esponge aches jpjy in 4see & eventually Teaches the. dready stare of av: find the Time Constant?a atty= KCI-E 47) v, abe eysee 7 USE” av) pre 2(1-€ : > Te see 7 Aare soli paving €tct order clynamice OF $5 Sulalecte ie hy Sudden Tempava ture change of 30° to 150°C ap vail BH the Time constant of ssee «what fs the TePN be avittated ey after sSee- gol 5 = — yott)= Kot Eke ko] ett kg=I50 = \s0t( 30-150) & 2 Ke = 150 + (129) &! 3 > ae = wee inane + finite Paty e See _ o® soe APY + Bald 4 aya ath) oe at i & Ww 2 I nut) ats) o+3st> aye= 2 S(st+3S+2) = ABS s tay ca ai! ~4-5t&* pinge +e att) Qe) ie 7 Sel ay = get Skt lore 1gucy col! = eo Y=. 1 = THEE Se) = “agg 984 16 sey 2S t¥ = gt woyeQ i 2RWnT 2 =) REVS st re O; e&s= AL K ket A=l ee y este arpoluetaeam ' ie qype-se ess = wee bg Besa = oe Oe > p= = a® aan qo= jo — St44s) Types $0 esg = 4, Ka = = pet: 10 = a S00 (St) eee ss = BL = 3 2un'f hen: at ees £ e® doa -a- ay Te eos cP) su) iad & = Be Te ue as a: -3-& SS = Tap Fa aD enone mee 9)! v=It00; 3=0'5 = qis\= 100 (HP TEES) Ststio) fi kvl SG) 0 J+ G(SHIEO Io = 4b, i> lool krt te) 14 IROCEP HED -g mo ACsH) S(Sti0) Wo = JOOKP ) pps loIAHee ot S(1D+100%p ) “HooKp=0 lo ey 62+ § ( 1O+100Fp) “H(100*!00) =O =) Wy 5 tora |see =" QR bn= Inte =) 2 x0-GaAI00 = lot OKD = Kp> 0' d oD, att b= ort dee +e sin Coo he ee ~ ol geoé = tsposy tee reser ee cw srest 1=0© wit our 'A cepteg pop 98 15, what” macipuiaon ruth be hve. tthe system 7 to redute ess 40.0 ake Is) = S(St6'4) ages jt, S'S 6 Yo FE ¢ (S46"4) ow 5 eG a . ws GS ~cesrHy CES y+ G05) HOSIFO evs qs 4 StL =O pb Sp Rs Stage Bt ee0 n= [E oe a aier 6 as ape tot IMP! @® pmpryoh ampeo¥ ase oie sorb rane coy a e > gro gare ler Yet KEK] es Ok = rR = 1 Be Db) i ) 2Vvier ft. [par eEaer 1 oe aepoe -i See IN TIME Some — the gtarcili ty of UT system may be ewrtre elebine! a8 when the system fs tubfected to eoundled APR the cutfur thot be bounce» : Bounced Anput- Bouneled ourPu Ampligs, the impute. Recponse OF “the ayster should tend tP 260 ag time |! approadrs to anfinita re cieced leo> pigs « when any cysten whitch %6 ccablected to cucen Aieruabanee Hen The cyctem Fe sald to be crane only when fr secove ye to th Dat gral _state > Ampuse, Response F stability + Ke paints sateen ee icant { | ) et ' pocoiurepstael | a ro kia | | 7 ee | 4 * I | , SET § unstable { sed . “ = & ! 7 9 = ee) ) esi (G8) omiticany ©) f Limited co) l 1 rear ae sina t 4 unstable bisa, Tet ») | I uns tale le f ga | J iG ) | | | t ) ee pe unstael& ore ( oe the system tmenegsce , Finding wot! become altifieult + Zo BE Routh Huruites * jhe onder of the Jocation of pales We wit go fon one. gine Meline caitexia *Routh Huawitg caitesia :— P= St ech + 18S + \OSt5=0 Routh Arey t— —1216 ! pir Be =16 gt toh wot & i a ePig 0 bo BRE TIO Le bt 16 “Sy = pede o! | cys! ee wy jo 9 C= pale 84S = 13S SO] ayes ' oO 0 1 1600 = 5 au oades) to gramine “he stactltty og the -tyttem ¢ WE cums congiokl the -f4tst~ Column element» aif al) He -RYSI- cowmn glemenx are postive hen Whe system Said 4p be stable * Now -the ovuestioy 6 Ever column glemenA - For eral con't Cpngider othe Second column ee sppsnletem Theg are Yoats Of - Polonomtal Xi ee They ae cogpficienls of Polonomial a of fe magnitude Quel 3iqn of any other) grement depends t efast Column gjemen’ only. Becayse We are dvding with prt Colum gtements: pis)e d+ sheesh 25+ 3SH5 (aby We have fnteretted in mine he ftavot It 7 toh el 55} | + 3 st] 18 15 8B) Oo -IR s owe eit continue THe : uit, SAY : veg er goeneer ents a 2m" TENN yne procedure > repre “fd bY & PM TH Continuerae Je 3 pot] ty 2 1S pr Sete 4+ + 3 leoy te 0 0 * : 3 (2etl yt Ie aye -I9G SEL yd i 3 ays 150 e000 et 4 @ mage ° Z + IS Gy since there are TWO sign cnengeA © oo pao Foigs are nthe afgnr eae eaeeb OF S-Plane ., ge sha gs + BST Sh 20+ \es He=0 ot sb) g 2 6 oF} & 12 te ° . 1 st] os 12 16 0 —? Rew of AutilaY squat - ° ° Oo 0 Ron of 2° st 24 1650 se roo AE © a ad + = agpe 84 De. sf} 8g 20 16 epee * 6 & 3 & 2 16 0 in wu 6 «( sy {6 16 ° ° 9 [26 ° 0 Ole o whenevel the Roulh array Ff abouprly becomes 720 = = ta PSHE ane. 7om Lemme’ comperel} 2e"0' \ i (S) pen construct aD AUMlary aquaton AOR. pede sUse0 as =e ge the -Higyst Column gleren) aye fosttive* pen ay ae carr 134 . cysrem Ff marginal Stable (or) tables then ado We AN Yr > chance tp become Sysrer) unctae* pe gst psrD opold of ALM equation « Aisye CI0Seal loop Poles Jying on Js ayhs * Ap MSE Tools ane niefeated then she. Sychem 6 unsenble * A22V Wwy—-Grlb) 2-4 [erent a mweasss C92) (St w) pee S=ts2)= SR yt 2 eta 8 ! < Ron of AE Sul wy RO <— few of evo s|) 1 ° <— Row oP AVE g (Re 2, RO 0 <—Rrow of 20 gtemenis aye +e + £0 The- q Hon fr . exe all the fies Colure/| rement g Wr £ : ster te ctauie: Su TS ts wh “we we woll_zee & gt 424) Ae, © (sar = “iy Ss =) gz a> eile — aes 4sbt4s oS Ss AEg= STHIFD 7 seit go thar ye wooys ae repeated Om tre anraginayl a7 ° we — tyster) ~ ungtaele \, Reakive Seleiliy ung Rout Qreyy R Both s4ycrem® ej sytrem® ate cael to be” absvjurely stable * x gut doseaving. 60% PS me —Syeteme we can conclude that —al he yctem® Fs recovering Fastly fom the —Chock Bra Ha sqpten®) ter athe sysrem® fe geratively mone stable _ than systemn® because BI ysna. Bost QO woohs veong te ‘y plane ate Mgt plane + eps stetane Fe netativery moe ‘a timed FAFA FR “eee. thar *z' Planes' gtar® a <— a = I { =Pe S plane ain a ia pee d+ 994 25St 3950 check whether the tools aie lying 00 sie negathiely torr ol en* gem yy 25D tSIFO «page Nt, +E) +e eye pet Por a 2f)) 4 goto” meme pane PHY go ante Pte 214; © op ven WN ue: a oO) w nee S o gS + ISS ROSP 2257 2945 +PORP ; t=O SUE 2 -pane* eth 5 set "agg TPO FO 24)P pista + 85 (21 F BET #y Woh cond ton only wren “Hed prov Potynomial fr lables An ogtgtval equator, gr side » Genera lation’ 9 an the nook Af pti) =0 one Yoor- e left of -!’ ded we 07°F” nal = he spur set ap te =o 7 one oF ror re one ' ne: pur Sev! pAb PED GB 7° ede of —I" win He to the feft 5 wit fe on 1 ated wematning tp th CONDITION t~ ontginal polyoma “ehoujel bE ~SIAIBIE fren omy hfs statement” aus: (om) shen only ~reneralfgation % Pessibe:pore pciys wits 485) TROT — HG +120 SS PUNEO Cine We ger engwer 0 & the sjemarining nook ul =|. 20-0 one voor Ites bf lg ovfgin ioe Yep ie fn tept bal Of NOE pions “the. crugstion fA yet yg chest “this ttalewrok f& ovalfl om not tor pis)= 634 Es*H2stIT=O They the olf are. = —¥y'S Ab We are congide] s= -> apne. <7PIANE toy) reference + ge Paevfousy we are dftcucttey jar an the 7008 VE ying inthe Jeg cfde of sel" Bur heje S=—> Ectaxen Y x-plane, then ere sont ¢ Ite inthe lefty sighr efdle of- z-Plane ie Se~>* SD 4ne. qeneraltgedl terement f wrong according Fo aie poi viel: sine, ye _cycten Polonomial fr Stable Cit soit be check. before. thaaling. the prowedume jon nore -— wile lotag. he. Geresaltgation We have. to tare sel plane only! (Cop Tae “the Por which % tow vale Te “udhidh Fe Neaver 10 Awaginary ays co thar alll he pols are Ate fn -ne leet stele sep x -PIRE!,Conditionally staible syste - et Ls means srabet ty of the -cystem “depends on Syston) ge Farametert’ gem ul | BK fon stabtiity ard so 2 ERY S12, K © Sf fety Limit — = stab si uF oo aed SO} ye nib oe tne Fret fa Fmagitoal : when K<2=) All el eas column eements ate ¥° ge BEHERO Lit co-eHhn 50 tots HL de 2 Ab aS L=O ainere fore the recpoyge fe Pound: | oh 0 = oars = | yad|see. when we ales tqn the ~Syctem 49TH K=Q, the “cystem writ ackt A ottilalor % atcth fey= loadfsee uy dg . fon Balm PS yoter fon 66 Pim we have wot +Jr can find ema 4 Lyte recfongo e “caftticany stable ne mV ; 4 a gince WO OCA AVOY. Bur ye cant -prdfoul— the aceilt Fey ARN ale CCU so thai the Atmftation fa we nee ice need oni me gg st roms only Gr) Higher ooler Ww!" Eo yoott ' Qik Se 4 CEE IF GUNS)EO = gong hp 2sig est 2st te =O 3 Ak e\! a sp Hind Occitan] Fer 8 > . (wt 7 gad be oe Se 20 jut O = = So y ft auctor ~) Ke Krar So fet A ves atte Age ys Gt) © ser amie ok § gt sO ye =st aM OP get 1 wn FW VE ww pone n aHGCS)HGIEO ie KOS (st2)7- = = Grp re) so yo citt) +sl4- UR] +44 =O ge j ite i 1 os aoe i Condit: on) for ftabill . Ith +O tye aK ea be Aras BtyRE so ES — ykeot we pas bur“ gfven pecble k aange & keor Fe the tatty vin © 50" CR = M4 G(S)HOIFO 3 I+ mist) =O Bras 2s+) DB eseasrtpactht REse=O eas ate . : . aven we wn” oe a aq a-ter) sO y 20 7 a } a asa a) j KA 3) 2 - a - er) 2° ca oe , Sh = - wf it ~ at >. -( KH) ge +i dkre)13e ee gs) = +—— Be 155+ S$ > OLTF ~t0 Find stati - | pth : Plor yne poles He a Se we have 1 Hid tte folgte then OL POL = Sd4N5SFS1°O eS ros f oo [ts ¢ abe Y fo. uns! $0 [ts | © a “ek sytem tt pois = 1+ 46) H(S)=O aw 20(S4!) ee Caey rests oa by : 194 S83 © (searssrrs poe) BD — Bee eect @ sv Ore wo Gexst) (Fees +5) ee ©N\40 = HQH=O 1+ See Cathey 1asbop Gash IIB) st}t 1 69 Gtot¥) Sf | jour | s* ane me ose bene ms | QoOth 0 gnc 40 S exis) eee 2 666 © aS [e Oo veal x woth? © . : a? 2 orrenge of veoe gravity ® 2002" < Ayr 3 = ; wince AE K > 666 choosen the cyckery Mat uncravole* © i: ) re step response = IE sages : TRE Bi) 2 -Cé +H) % au) = ow ket ate’ = ret ee ets)? “esa 7 unsgtanle“’- ecenyectiove so Hesie ” one phimey mez . + {cca Fe ODE 2 iat Ske the ronosvd “he crapitt teat -Falh , he A value sematit tame: £0 Bf fo Eom the ype te same CEFF |es) HS)=O Scs4 5+20) SF+ s+ $(204 lop) + lO kr =O ‘ : "20-4 10K p for stawsilety : § YORE Ser : S\ [204410 -oe y wore? OF Shi ep | ») gp iokpr et > sii o> WEE _ qe Cote oe(St9) GtIHEI=O eu? cep cots) FF ae ot SO 2 e ie Curd 18 ° weg se fial4 1a ° RZ a $— Tutt c + ea esr " = cs woe 950 S™ lqaw) ' oO oO ark i sooe 4 : wore acaund-® | prenar | 1ytNsee 4200) =O peouce = 20H, a <* 41°36 ye wae: 136 989 FR 3 we wee Te oe I+ Ges) HG) =O sts) (st) + KC2) Bampina co-sfficfent (or) bampiig ractor Co) Actual chong X= gun Bows 3) DAanpi co-tf ficient (or) Mime constant of under danfee} Lpactor-t meh Ponse Batic Te te Sian 4) pamped Natural Freyn(au) _ Wy = nN Ze yaa [cee 5) Shogun stiay = (St gun) + a 8) pampiag ratio = Actual damp! =. fn. = : Catal taping iy 7 Be cteat lamp = quan at ete Actual damping becomes catticaldamp™y eo i catal damping = wn “f note: Ta AR TH thepoblems Damping Fedor t Sgiem Gor (ts) clamping, factor . % LAR pt a The damping Facto shen. rainy Te ae damping yatte Factoa A LYSIS $— Conder camped cate) ven You can ISFe qreaten than TRANSIENT -5N wee xs) = -& CG): =. _wey____—, ; SCS4 DAIS +405) LO AIL Coen 3 Ga FROME NR c= ZH (stg) at ayo CS+8Hn)* gh (Sta)? aE Ph NR ett) = Want gant I= Ey cos ty t— ee tang 3 tae ei | a (EE + cacy + gamut} rerr — Sinat + @ Ct = ee » SIN Coat +1a8 jp) ae i eet ee sta( wy ras! ()) ! iit xX x ~ 4 an 2 ar eo edetiva He . oo | (= ay +) Delay rime (4) o— (a = ~ oi ¥ Ee 2 r anode nary val h >) RiseTime s— y=? aAbtsty; cct)= I “— Cpa = IH ea cencuastr 8) a1 a ett eincaytr 6) =O Tae er 3) gine fratryty¥6) =O inet ae nar? Gere) an "art og 2 Sowa2. Peat TIME Ctp)sa & < valve * Ak %& the time taren by the aelpmge tp seach’ MANN Genefay to ger many oH afiA value ,We are crtferentfale shat peaiicular -fan'! g equate -to zeID° actt? oo ar aa — gun _ _gincautp +8)] =O 4 «af t- t— = gual” 8 e auanstnciutp 40)! £0 Oo -é cag {10g tet 8) “Wa * wm E =" wr E Ht * +6 2 (eee capt ha eo qian SCP » {3 2 yan( va tp*®) = a ern a ant uet®) = Sele ly a rancaitpte) = entra a = ie = ane =) rantial ptO= Tang ca . é °F tp en (since t=tp) oe Toe wld oF * eae evaluate ~the qerancfenr aecponge— foot unooareled 2 ya Paraleo) (ie stqnas * mee hey aa1e untoundel ‘q WEA EK nosteacly sate fox unboursled qnaye’ a. . wis 4) setting Time CEs) at Ene. time taKen by te response te neath 24d settle with in the limit of tolesrence band ( 42°)" ors) Qty ToVeNence band 3 yt = Vax Gi Tolexerce Land FBT = Fay,ah <=I-é aed a ‘ hr me €, Se =} @ - O0'DY ae peat? = 0'O [= 0°02 =0.98 ct) = ey. oF IP ap rest ‘etr= 0:05 = y-005= 0°95 ety = BST: OP 5) Maximum esx ovesShoot — (Mp) hon be CO etpe = HOF otc autpt) a wre sw —syayttty ot an a ncott Fy*? @& vee ~ ayy (Tero) ale al Give) sinc T®) weer \ . =} aa mB ot 6m oF ¥ Is 7 re MES Oty st ah) zine a | zit rll cr 7) ooo WE | We We a oO? cts) = -aWT a lttp \te any x 100 qj =. @ pMp = CH |E ot kp Ne Where tp = porentiomele GIO = FE = gqts) = kp Xr) unis 2 tas) a9 7kDcrwald we are Caqig — .gath Se Increased Coy clecreaged means we ame vaayi efter & ©) te to practically we aie VEN THD ep (60 Ar (14° ny =o C7 Only Vary) « Theoaiticany we ave gain (wo) im deager means thaké only + : Note: — : : TE: A Porentiometerk control -4yte are a “gror cletectos”. RA parr of- Mrentomeleye ad# as e70% cletectorZs + 3 there f& notimenetponse fon Zero onder “tye becawte indie anpub and eurpul- chazacrentstiee re unear ependent + ast Gace System + ot) be “LD _eofo X68) aittao (@l/a0)$ +! re 90 whens! Term£ € constanl” Terme are Fare - remainig ane’ terme are taken eA Xerog “then fs called’ as “¢trer order Lycten"* (ee we game bo alo Fe Time constant etemenh = a Xo) _ kK ~ ts Ke (S) ' *— gampies RC Network eo ge Nerworr Hf aM gnanpre OF i 7 e ) ‘ear orcter system - Ee ps . il with ©) WALT 2) Botltag OF ~ Kest i to other eave | 3) Wr Tempararye meacure ment ERO a 2 by ug, ~themomer er” fs anothe | emir4) water ttoage fa a TINE f al~o amather example Explanakious— when we Contfcler the Gothog of- water) milk ; Agr we Bie, qiviag flame 3,4 input 7 ancl the wares heat ust! defends “upon the base of container” and ato volume@V) ~Afea op the water: qhe™ areR of volume op warer with ndfcakes thal = CAPACio & Bate of- container tof} ANdfcares tar sertsos, + ce bare fe Coa! regquiaring Cor) varying element + et op Flame 7 Step tpl base of contatner = Recéslance Volume. @f) Area Of Container > CaPaCT tor eee So Any cyclen which combination of. setictory an e wht “be under the careqery of $fstr ores System Ttanstent Analy sip nee XS) = + Cunt Svep) SX S)= SUUtsT) m9 = SW re et ue "(2 ro rot =e 618th) w= Ee) en I t=O / Xptt) =O Ae ET 7 xott)= k[-e ') ekposy =F - e[t-o° oy] = = Kod] (0-63) ae tear: Lm ® = KCi-e unit 18 IP x8 ponits K(o'@] 89 fon et FN = 2 Koes} fe wnt 46 ime teIT, 4247SO time Taken for Bett op water & UT Time + en Sample Thezimametes,—- When we Pur Thermometer > math 1 Tar apg we ate qe step tpi Aer aoe agit) Give steeyel a our body : v (tate Tempareture of- —> consices, water Tank i thar valve uf) be ade at a Restor ane = water ane represents capacttoa « Lo ar wt fom 4 Fink order control Systen. > Phemare Syifen K Ayo another Sxample 1% fregForker conshor cystem + ARE cuijar to water Tanks At Ys lated tp AT Amlesd of water, thafa omy crange Yor ware Tanke | Fhemallic cystem: Note e— : one tel yA congialer 40 thermo meterS A a tak containers which & having wares, with & Tem —fezmo mel err 30°% ist respectively « aut place. the $y 30" contatuer, After 4T time st coil howe 30 Tare -thabr qRermome res, piece oh fanlz Flom 30° -remer NOT aime at win chews Iso” e Wo paralure of Temparature + Now another container” fo at wri! £ fom) Tempanatune » AF fea UT Fempanarwe * zh (A) ff ko 7 ie ae 150m KF Z fom nts the. eipoestionnh be Af Kr=0 te moti) = ko (Ire tr) = So we gerdhe adual € ypression-wW Befe— “Ge thmeamitant defied ac Time taken ( the secponse 40 veath 63%» Of he Frat valves ter een Evample fos teconal order System bz Any rove System) aviv} MBSR - Faitchon, & Sprig contin: tere -the anpul = Ta , ( Caef- uroreyue) Z Control | Ouppul= Anguiar alteplace ent of Pointer + Ape were the mov") fytrem fk there t0 tA 0107 MALS e-F07) and rooutng sycter feicHon wil} be theye + We are atheg SPIT For contro!yi99. Torue + So spring constant ‘kt! Feauo Sx&r + We THO BAYRO al Set at ae = (485+) ets) pes OS. | ______ yo) IS} BS4K = & 7° st Sstk tS FT Whidh Ba Secttd t%ales, tycrem By the Atul of cleflection tosque. toe porores. wrn be ) ove, but “TE toes nor Lrops * when Tarte the poster ‘ wt shops and make Sone otetuatoye. nee oncttattby# : are caied a " undamped narualt Poreqquencg of- ascitia tog" - , the math season fo tHe atematyos fe teed friction (8). 1 Keep the earction ay higher value. we ave add tome sctoa Aritkton to tH THE era friction Fs called =” pampig Torque” +50 thal the pointer wil chops § Mare nogecinaHa » The mulation! clamping proveled” Provide) to rhe Pobtey | can be represen Feal by amphi ao 3 An TReVO ap forerion B=o, Ha res Vy sok ) The responge ve sinvenke ASPIACE Taancfoam iver /sin( Ser) 7 which. FE truteFeal © That qives Conctant ¢nequenty yodiam ped natural Freyy Of-O6C ROY. © iow Compare E90 uty Sanclard Second oer {ysten) Te be Se ~ le why Ve Pp 28M ST OB et ay (F agme & alge S/R ]-Sie AJ " ve. an Actual dfecugaion we are hangs F varucs means ave add the aifttion +4 SECOND ORDER LysTAM the Raponse of tystems eahtftt Contin she grecely stare second orcs) Ga!) higher omer wot 4 Suclatned atetiatong eo yaluel Of -the Thpub wil he Hey" $¢ En|On |S “unclamped Aetura) Frey “(ian ata | ced) “these etctiaong in the Relfonse -ane camped yo the stare value of Tnpub acing 4 proximate aanpig sie p tpy ng AP ete els , where the lampin fe maiemattcaly. nepresentedl 9¢ Davo ratio '¢3). standard Seconel onder “pier raniter fun chan fe given bY Le ct). | __e_ ROS) Sh ZANSt Mh go Damping. ratio Cael) lm undamped natural ey"Etta oF Deer Op, Nate, oF nesperes Nature, 9 tsps LO) wn RG) “cae S*} Q5NNS Hy char 2 = 1440s) HO=O 2D sryz agen +105 =O doe ee : - ani, whee gery = piccarminesd ie ae when De gx) £0 = a=) p= gc 70 9 &>\ p= R140 &) CaseO> unclampedt case CAF =0) oo es + seo = + fen = veats are aeayiey, St Ny = Wn sn) Mere No audrina) dampig B given t rogr0 Gommeiabevel” FU ZrO! = conttanrundamped oxeTatont | ton AMBER case @ — uveleralamped Cake cecal) re = — 3s (st aKnyt My ear smout) oth al a 40agqinay parte te (at ib) o's Roof ave hart] Commpler consgarepamped AE C3=) Contrcany 2 TE= wn CS ttn Yoott are. yea) 8 eA ~29 Rwy) =o 2 ss =H ere) = ee Co No wsctuartont Lince -there Fe ro cine Tem * avel alto nesfonse # fash: pur practhday th doecnal orl case) 2— ==" over clam A clampeel cafe (>) ae Re wy S 2hwnStah The roy are Teal &, uneyal” I cra= ere the mrecponge ves. SIO" since WO expmentiay tern AG] egish + Sone ution ¢CWE! among an the ystems whith one Preferable - underdamped tyshes) mone paeferabie - SPWANAVON:5, (>I) case, the -verpanse becomet veay slow’ £0 we never! tare thar easeodtyitem: . in (a=0) cate, there 1 no chadoly lake Cone Hon 1 the System WIth “maker conkiwous accilaHay2: fo we aulk tare’ B=\ cage, PracHcaly njeven Ent to we @uir take- singe gz] eaye havi he rok eyual / thar meas wir eyuell rime Constante swe Nee aye mb ceslqn Iwo Syste, pefth equal Vine Contant’ Sine fon desqnig. “poo Sopremt vditty eepual Time confants Mme two Lystemg have 19 be ett with syuadl @r Adenkcal cytrem “Shee Te not Poccible Practicalty{ 7 Jur on Faper We can how): Non aptemacting. te Spreporable ~ CNSR Act oF el) copii) —) Nor prack cate exer X 5 mosh, of the contre! Systeme 97€ cles igre foa 3 hecaume the respowse = Can be Analysed wn mse Noor performance Speciprcations * Gel Gackical'y cloesnith gyfer Henle wo Higher omer Chnamice ave clesignedl fox Re! qrearerthan 2+ Ot Geren hav wei (or) Saeed ~ gO repmerente Root locut oF the scecond orcler 440re7 optaed My vaeying the lamping ratiog G 10 6 to 0" At @ a demi ctacuiar Path wit aadrout o- Wn’ Characteatebice Of underelamped! Seren ft Rests of the Seand ovler tysten Sir Se = ~ BW Ey PV ) cos = as 5 — i [O= Ck i)Age when we détins the HES for OLTF + at ! he . ‘ oe aR 18) faite sar bk la Then -fhere. no FMel cul” CLTF* ee cbatred te 2 ae ee & be? we ugtitee* P Pole moment + How it wil ue 4 Gxes) NSIEO >) Ges es) =~ pc peys rout 4 thould sattiPy one cord J 4 air the rst of Frame for th FS ony note | every hare ef soot ti be sigie conaltttOn* vee Cheng ini point 1 Roothoayt » ap the airgle fat sre pot saktlty tne stool lous efyen “the Porar gn the Pook Roce *@ the sol” lou’ @ coaneck * we comernegg of Root tocys ® TO. check whether 3 point & on the Root lace » 10 check. he FOIE whelber” wey ave ying OF pote on weak heces whe —Arotmer cond & magnitude conde jalhen we. caw J s10t” loca degra, we dost now the value of ‘oak any potul— “fon trate we wit go for wing flude cond” wee pick DO ot ea Angie & Magettude cond Hon — “the “Angie conditions @ used fom check” Suara Wang 9g punt lone nor and a0 Ficlity Of Root tecys For Croged loop Fores - 490 whether (Ss) ACS) = pina : 41% ave ongie : ne i atok® = —1+50 foo | venaies aso CF) Lap 2 tat] 180 won teow E180“Engle condttion way pe Stared ap toy gq fom We on moot lock the angie svatualed ah “hak Poem” mull be an odd moulttple of- + 180": Gince 20a-H) 180) « “the Magnitude condition « ysed ea-findtng the NONE OF “cue ain "kar any Point OF scot Foes 1 i >) GUIHG)= ~] +40 | qr ts) | = Tose. =+ > . = ® ae eee eae eee i G)= “Scaqast) + k=? | s= isl trude conde « fon Finding gain Ke we have to we aye onagyn' i od fart of att: ne have to Check whether g=-ith! ff on soot doces OF #10 : a A cr) gered erty ge-\til _k ___— faixti] (5455) Now y 2 ol a : e x = Ag -45) (48) ). |se-it! | (GecIarh)) ( asll§) & —180 Now a)| sectil Ka sy = Ke Vl0o SS eeAAV ft You sprlate’) She chareye - wagpitvd® rey se 146) HIS)7O = her prrGqetHs) | =o AP we squate anynintog to wer Foire aque cap ee ge 4fwe quate. +0 1, men we can easy Andou the. value of K+ Gis) HS) = cet sh sy= ~3tty Wow Se eae beset ra wy catuny coxa! A Cigo- eS gion} =. Laer geal > a6, GutlS) [2-34 7 . K ie Ee Gam) See ¢ ) Ca¥) wf gore) : ay fe not on Roorlocys since Ange end = ee. era) UIMPIe Of 180% i mulHple of 180%” $2. ts answer locus ae 1D sce Angle oe mull ple of to" * Construction urs of Reok tec Pure NOs :- aot Ines -coprometarnes) about ae ane « Cans =) Buje :2: Lek P= MOtOF open loop Pie tee z= Nop open bop 26196 + Poz fF then sthe Diop Branches Of goot locus = P He Bio CIB ThES tearofnaling at 2ev0S = wR Sn wo betmieading aranteratty= = ret NOi3:— point on seal axle. % Bi] tO be On seat ade Wot YAP tO the “gr Side of thee Pont. He Go of- cfenlooP figs £ xoma % 00D - SP qs nt8) F peF zoP } zie nest2) (St) S(st4) (S48) wURNOe —>F PHB peer pearl RL 7 we d roxio be yutenois wan NON rtRoot locus meang vs gain & vasilte foiom k=O the Boot exft Ar the -orfaen sean move 1 Rero ak S--8 SO har” here root deus suicp Newt “the PUA ge~4, Wh meache to S-—6 20 fm Nett cide onl) cine rent lous exish: ar wil rob moving IN oignidale crnce “Phere & no snot Jou NE NOC aarengss "Di OF mot lone the 5 e poe tee ia and Pole 2036 pial for (“ one aeshiocas af tein emer S| i iit bee P Pole Bye. 00 a explanation i= PEGs) HES) =O p+ Kesteeste _ Scstp et Y CU POA = ststyy esta) -f ROSA (S#6) wohery K=O y sx0/ Sey $* & h we. PP Pore » % we tal. Aboul™ te open loop folks & DpenicoP Zee 4 the Rear focyt tre path OF Gtosed loop POLE ar chown Sm abO® Rule No? 4:— Angee of Acynprotgs =? [Hind ci we ah bo mez (ted macy. _branchet vinalig alt 2° =" i Fie bronthes well teminatig_akco mm the Atyonr or allel toCme — aeymptotes «) “he (f-2) Baarchel terminating at oy sill GO At certaio Skane MA KNOW Ig Aaymptokes of sat theus". s Noiof Aymptoteg stit he epual to CP)"a SF Sppoge PzH2 Ge Coat) Oy 90. > HO ee Scrat? = z PF 4240 =~-4o VF! chareny dS cost) (S+2S4S) + ROSH) =O wow oLTF 3? Padedure 5) OLIF fom char &'!'- ye RY ia “s(stw(S't2st 9) y+ ist) i ~senyers ° y+ GesHS) =O Gis) HS) = _K ts) — => cst) (543) now pay, 2217 pez=S O1= COM gg =60 ” Co 3 - 20+! 1g0 = 180° 3 ge 2@at! igo = ed =36 we See fangie eetween “Ke Acymptore eee = 2 =O" uve nos = Centred t- Ar te-he Antersection point of Atymptoté 09 He 1a] ans + é at may om May nor be A Paat OF soot focyt + % ajeal Fark Of Boe Pen 00} Centapicl eon ae OPN OOP pez u 9: h u Char equ 45S (KIGBEK =Oa Now OLTE =? SFB 4654 EST RAO p+ _kestD 6 SPSS 46S Compasye tr nth (+ GO) HG) =O a gegHis)= RSH = eH) St sts SC 5-543) p23jzel/ Rza poles =0 21S zerog>—/ t = Ferrey cepa cntrold Cg) ODD . ot evry 2 eee Rule No:6-— oY) = Breakaway froin i ee “wey mre tebe Fompe where mulbiple 200 Of- the. Caries /OCcus+ Suprese we. rave these locations FPIE « * unen pol@s are moving tacaidé eadotter palm a PeaKoutar Point ~tnewy are eel @ ee & = ceperare— Procedure agin be welll for finding break aO7y point * ; Gecadurre— 4) FG egnts) =O a 2) wate 1K’ toreoys oF Ss: 3) Find aero &) me nook oF des o 1m : a 5) TO Test valicl Baeae away Point Subst Ke+ve > valid Baeale aay Point * “Feneney Paedctio~® trout brearawiay Poth .— 4) -the gyranches of- srot Jotut efthes. approach Ge) leave Baeakaway ‘blr aban angie of- fo tye Baek ON Foinkt + 4 tate tater 7 AF 3 —» Fr mele wWheae n= NO‘ baaneheg aIpPoeadhtng (ow) heaving the eee eee et ill ie2 the complet ee cobgee a me cnr of at bap : ¥ “a leaving He Beat a7 Poor FA ofyele 3) shen tu aioot- { oe the wi one these a a bg ay baat ae os ently pied Paves 4 acho Point teehweed of CSE ter ys considen fash onc. ayttem i— Re We as 3) = kK ) ‘ 2B ; RG) eth au ND Goo} ool Jock we heed FL) HIE By... é tet us consider Second osidersystem. — KS = wo k — ew 2 a SSH) ec) Ste qs) = WIEN; 2 ~~ scs+2) i Peoj 22 O/FZE> sulerO3'- y= 90} &= -O euler ot e-0.-1F 7 = Poe ate adetenty pieced aefinatell rere. _mutend:6— vahen ever T1900 £2 will be A Break ai Point * cere 4 SasHeHO ¢ ke ~Ga218 iH ofts —yea=0 aerecty bo Y 2) gz-17 praracay Point Lp (eft) rover «oF “HE the poe & acted to Frogr onde, Sptem- the reduces’ move , ‘ovocaels angina ty ax So stabilfy wi be eau as) — by adding anoiter fole’ is 5¢S42)08 44) A) 23/270, R238 y G76 >) om orenty 3 3) Gx 180 OEE G32 3ep=-60 ae6) BAP: #4 664 BS -HILEO ke 6485) kW 9 5) Bee RE $=0 ae G2 O18) ~ 315 SK ae avoties| Pole tre ¥Eob Jooet uxty be shee ted cage aE so steotlig set meeducer e w- = 1 ee DPH3 zl Pz e 4) ©1290, 62:=-90 5) opener =O) 2 as re a 9 BAP ay (ety) + KHAO KE —C Brest) Stl dle _—f est caste rst8) “step 9) ? ¢stly- =0 | 7 s= 228 $0 RY aclding q rem Yo ae Gasauie De) Te Then PH craplthy sot! be Ancreacer 1v ate? miter highely stables meme tooy. efficiency: eut 1007-4 Not poserie’ So AIMEE p>xr gq we ane clhcutting ait “the S00 fos, P7% only an Otnertoeerds mathenarait af 2>P2yfluneelor Power alt fc dnp fer ration’ So anoarys we, hae 40 Antrested to take P72 Oly’ Power > DinowSE URENEUES ete af a 2090. on meal = ofthat ze70/ If there ane et Sil tothe Jett rl MiB a he ote gen of he tay ote Pe inn OP "oer ace Sthen there Gif bear away Point : ea mF -+tD “the te : Sar Go= best) a Of “har satD* $0: sest) a 2) per, zep PAI eee 8 BAT char cst2)(-28-) > t-sts]O 4 SH) > srt s=-0'6 ae Now jerug see what f se thape of he wot Jotys * Art AL the Pole & unsble to Teach the emg tr neal Sz i Fathy “thea eq are eee prea tae Complen conf He ae a wv jake Pa snot wot four) a “errcle * 1 hn eves root locus 8 A 'eftcley AF woftl have approprake 4 certfe “Hee roth be undetttand bY ‘anoroing] the. ruie@ & rle®: Rule NO. S— = Antergection of- sot log with Amapinary apatiae se spot of AE At) ab B= Kmay ~Fe0™M Routh artery ies we aintercsection of sicot-Rocus wits Sw GE: & o&) = eee Sts Pty waenG? 511g s° |) t oie & 4gek >0 a rend actly we 50 tem At ee kare a> 64h =O ap ea ’ Heme the Rootdocys fe map te Above ape Atymn oF below Asem tl fotmar we wil Je fey — Antes ecrion Of- assympto ter with fio aga »— Fano = x co Feotincur cute the he tango = ¥ OY a 2 =3! en Lavlewh ~sahten nee < F2Uof - 2.07Be fee KR weer en ety wi Cub ™ED O26 when 3H qfven @ find te VEIUC of B=) fe tal fire woe will Find Oy then ated & me wit) ~tal-ar 19 te sbrectiont cnt] BR le From veParBle (¢") a) nog mae a point 'p! Gn shfebe he sh tor touthee thar agie Mfne* now gaia (War P=? foa sham ost dete & KE _Poodutof- vectoa length of Fakes Pookior ef- vedor lengikg of =erat ke Age dn x AR t yer ARTE ctrequlng EC ADANYCS ete x-ayir A os with aqua ender care wtparen Ryan f aie “Brg of departure = earival :— * the angle of clepartusie ff optatred when Comper Pelee terminate at 49: * mthe Angie of ansfiel) €¢ obtatned when foles Terminate ar Revo €6)- Where Jee ap -=4) pea ao ep : got gon)” 5 (says+2D gh ypc rZsOv P_z=4 36° 632225 = YS 02218 ” 4 @y= 487 =0 : iy CUED poe ott 4) tp ~% 9 BAF 6, godpges 80S CEF Tot gst n6s*t 20g a kos 4© we atF op unity Feedback tystem {5 is)= eee! SCItST) Aaeaiterit hen 3 cl ® TRI wihen § Changes trom 6.16 td ows wht! bE 220 © £3 © £40 Oxo wy : LrQ=o ie =o) Dear? 20" erst) TS 4 Stk=O ley S4E20 thts ~ me YE = i & Qe ho chan evil tegesyn(s)=O We Ox xO RestyCorstl) 6 ZB 029+ peosti+4so peste 70° sx+ 68+ 5% =o 3 otb a YM 7 ge Ob 7 YE wy iHge = SY (06) = Yyoad gee : til, =0'6 clamph eet Exo's = ) ace spa Faster Ot — ae menimam overshoot “I Mp= et ay ue = 446) Vee settAtagTime oy a = Be Roa gun wa = mea cate] seeVi) NOLOF CHES 2Y TR = texty = 7-33xOS = O84 Cyc/ed vi) T= Wy = gg issace i fr fa cd 6 Tee eee, | =) we 16 Gs) as 36H) colt PEI EEELreCon rcerreeee re eae aaa uy Fu H6a) a s (stata) sige SESH Ys tas) ) pmps 27> then ae? enirge = Oly 2 F038 cer nae 1 gisy HtsI=O ~ 14 = S(StY-HOAS) 2) o> (uy t10a)5 + =O wn=y jh 2X (246A) =) GEO", ii) cg Fon Unf namp Anpul— @ witht a i tha: es ® att 4ae- = 16 a ss —_—__ ts) a GO" Ses He gr RO) cik S& be = 4 $30 EG HES) $8* 550 a oe scsi 4 6a) ee : = = onyuniye = es =for eo the (0 the AUT Gikh mH dope of s-piane % thee © 90 pot of ante si Se mbenCediomn' = ¢o ANSic Qr pra he Fook lee for = given control Ystew e— {[st% a ace) or ets HEY = Bae ca soa pra Fe spot loess 2 We can dw 4 RL for an ser en the PIES = Reo MUSE bE

— Ipxe=k ay OH =yne Rook hoaug =—A = wer gengittvily 6 ckfred ar the acitty of Pe Af” to de -omavest crange tm hk:qe fees }<° cs “SCSt3) a) seetay bls =O aes Ke GBS .-gras at . soe 3 SPs >) q 09 %t26-3°0 a. = cenfre + adieu pro Boe a Sa es Johar ger : D aa: ie aus)® — preys) yr 3¢640) (8 ust) far pie ene) REPT Boe ens en 4) or 45" B25 1857 oeat is cep sty) copys sy TE fa 4. gH 1238 Goosth=0 ~ gt gs3-2is’=24 a ke ak=0 > ASEpaysTrsKe ay $2 2770 HEB HN 3 BAP are valid .-+Te eta i. LEE fh 7 4 Gp, = igo ~ Tan (14) = 193°5° qo eps org = with an jhe 47 ; +h formation Now we efit dian) “he Peet” ecu We wy . % xs ‘ ©. * oe ag chett for Roth joce : aie EUS) uy He NOAA ROU Ramey o (ot) Ly ees t a =0 S|) 7 K s\ fA a at ak, 7d = z | Be yee a 70 ate eeicg eZ . ZB’ a yoo ee _ Yumi Zoenig? a fy te: ) aseP gpl gr op mat + Bg dy ; ar 3 dx + Cer 2) - rg One. Oz Moke at Hn te) tes 2) 2 V+ Be Ak aE 2 GET Ky Xr 81 aN) + teh) (448) Bute we conte ae ste : are Mike ThE + a) v & 2 y agp ae ge Moe £ f@ vw) dt ot ee ") ®) 465 aah ot we we Wee ge) ft wove yo ac eg whee %& REKL ey on Soe ae ap here We Wave the otal el be cghsontg of Mol fot a oe cake a com node" i * B ee “dumm node jirerar nereallo sere Element" Notes Ascume a dummy rode bln | the A woe tT a (Cr) +e CHD Pe Moe + Badu + BS “AE cluromy nadie? it ge (amt) o= 8B atte) a or +KI as (tm) t gt) OF My 2% ig ave yp Avy xat Ki Jat dé % iecor » ~voltage - Anal v= bit ed) + 2, L CSor slr) O= ee W) + 4 {tr i) O=G di Heh 2 4 far +é é J ¢hDar +e fe iofydp on T to T ayy + BAY = Ky Qn tay Bot a Hird) j ) my om Ft] @ fe Ley, O maths} ROE) OY Omarye + pdb (yo 4) Ss te e _ all ia ae f are)” el es ast Bae =p (yr: Bg [| @F 4 2) Eth & re Kare) 23 . aM dr agayr4 Kl tp) ap or ial wae edie pe «Cay i) Ce The peo unt ImpyZe F071. sav rhe vecul 5% oceitation «ill BE? fen mei! ez dk 4x 3 FS csp x0) Ly =. eceye LFS) 3 ROS Geysince ISI UNIT Alnpupe ecyore reo —+ ss) > xe) S4) aintk) = =_ Stat @ @ x qe POIe OF Ye mechanical Sytem woftl bE y @o-k O- mE Qe ¥ ou ry 7 Ky jpasye B 0 FOE, & NOPAE ennyse fs & oo all € ecto pore 0) pest HR ® Br Noda} clears) foe the RotsHowl Oe ron nk © \ a +O ym 1 Fag der4 pair es ce) ate ae x, C827 8) Oe Seite Be et Se , (O20 TEV -Analofqy t— Ne Lig 4 Rtg [city a ide oO: dhe RbtS SCE ta Stesrepuy t= Des Oi step) :— Sterna): Tet Anal = Oda a by Se Vi) dF oe oghe Bat dnd dF +h feet: stepty— i a “ctept2)!- . e ° Re Blok Diaqen_ Bhaebaa— As Ss oS! RAS fepeamalR segut vient AY - Dovebeing boy fa Han} Gr) X— [ae } XGGe seats Iain) Boe Ve +4 x + io ue} oe ae fergie one ftin name oot hg ee gd] 14 ond before “the bloc Ae ) ghtpting the My see int (ancien : ice af-tey dhe Hock Ia se AY KG x sind athe He cFf point or} % 1 1G apter-tne bl a : : : x Yéul ~ ne coe. scbtpeing “Hs 6, chtfting He yeah > Ey Ree tareattpo inl bare the bibct + 1G . Aq) <4 x ge rrantger dunn | & oe Gi of Closed 100/7C-S + G ¥ : RJ et H 1G 1 B- Block AAQIAN ) c R rrantforatioy = & oe ep & tr asy tz Sainx Gh = SG ROW Tsai Batt 9: Antesreny ry) x the. cumming —) 2 -™ - clementé : ye eo TICAL Rutet ee ie «eps 1D g 3 tov Shifting “the. HEY takeoff point” Me - Apter the Lum alter yoy y : 4 aby Me shied Hey “O77 rateeot- ah x Ba n ‘before the : ; & 4 Camntig, fofar 4 o «| gtd ter the Summing Pom: * Se — " sytee taneort font AHLis, t— shi SIPC)! SHE Take off point before G3 blk > Yea ey a xq ¥43 1, ZA HeP Oo xo + a Steps), ———~" -thiPiing the Summing. Point before Go: SHEPCW! senterchange Hye Suenerng point—* : 1 ceed Ca | Peet a =e 4 Ris) i parallel — Bo = Gat B Gr Gz feelback— — = Ge ot Gxt series» G2 43 ae’ 14-@.H>kept? — RY step (6):— eat P anit the Summing Poin — > cts) \ (i ee paranel paraliel FRSHT 1 gatit gat) gua gh EtG Gt 4s An seajes With A” 2 me — Get, Qt 63 sr epct)— Gut Ct ROS) Precis: ‘con Hig = Ge Gah Fo 2483 RS) 1 Gate + G14 HL = G) 42.43 HI HoSIGNAL FLON GRAPH i of Graphyca) Repaesentation of contaol Lyctem Fritch. aleprerenting each OF He Cycler vatarial connected by direc branches - 7 —— SFG fon CLCS tH _ CS) nen igh have to alsjaed TH SG Fos “the given boc tag am: Block cltagram atepty'- adlenttfy the No :of- nadee —ae oom, tpur ee 4 6 % Neder step) RS) = es) Now Town the. nodes volt conesponding qatns « . cy “WS & the siqnal flea Ph or oe pyoctdgm: where Kt) fethe alprode. “4 cls) “Khe Op rude « TERWNGOGY OF S*FG 6 Datei Ar resent fre -£ystem vanianes and Fe égual to the. Sumof- a ino ing shay at fre’ 2) dopat_Neole — to) face Node ab & the woe haviy onl aatgor baanchy 8) putpur npsle (or) _ sink nedte t— at & the rode, with & having ony incorateg broeshee 49 O09 ; ay ot —S- tere we Ae vareg us) as sintoode- | A po) Ga aserape deftnation Sinkntdle ony have fneoming beian' eg not i IS) 4s . oe having” ourqor branes. ere QtS)= Sturce node” wines Big) sme ore so de have 10 extend! as) bY gain a ets) = tiple Ha Gy Hy + ga hat] caxe@i- ys Sa at Now | : Yo. %$ the ofp Node- f we have 9 +o extend he sy_node: ve, ae sawn =H) To etd ye = Yo/y) | 7 HAN Me a ) Fos pak Ree YO a %K came fom roth Since A aloes not eleferck on Path« @) 40 Find Ay ANE I=(~Gytty Re) = gy ty te y= Aidt yo 4 5h = [ose] _ Ss ye 45° fo ‘SHY SiC Guth 4) Gath Me ® find Ip! Ss Sayec. AGt G45 + 429 +48%4 PAC Ni ee i {- Gat = Gs Ha$G) Sg Hi Ho) +O Giyth Gs He] for “he fi goal How Gaaph Fitted 518 Byarey Forwsral paths §: lo’ of feed back path pan @ p bo = Ge (He) Cy) (gy Ha) OND I=. 48 (HE) CH) CHG) CH) (oH CHD Soo= gmt @) EA a ; 2 wah to @ Ge © 26, 1-Git 7 1 a ' rea 247) » : © = my GH gx %4 ; 24 HGH) CrGh) {-@nr-— aye, C14) CI-GH) | a Ie q AP We want to solve ao block clgm yecluction Technfave ° 1G x Y @ £ Ye Ut get AGMt Ger y,, x 1— > Hi ete plcceiagean Rion Metis » yey mer yaYo je input f mul PIE op & one yeXL yok Note t— when Ever mMultipt a= : fo for Superposition theoremcope yy % x 1 I Yy=Yo0 Pte sal a= Si. * emer 4 fle % oT eo enan.* casethi) s- oh b |y=nro Re > Fath f ot Ss h ee Gy toe Ye R= Guang ui G DG o H w° a oe Yo fat.» fos that se athe Gate OF cath fownid sal Kvt epg he cel” = at Ct) S : Hl t a3) 7h taye ‘ +22 2, Lge f 6= &z+ Syeyt C4, Ay )23 vy zy? f= 22 — :. Zregtzy Aw ar w= Dry xz ‘ we ege® — Bane So mE? Gi™ By gs | Ys = 23 asics : 4s 2rtey ) aoe —$ C9) 2 RCS) EB =] +& ae Fe the Ampulse response ¢ 8 a oy so cg : f ee t= 1D ets) SSH) fe 4 ar Z KI q Sb “ Ou) = te We camidh + Mart fod ) ar : 4M! i wth 7” & ey || M, O= Md lee Th oF ar fr Fav Analog’ s— aya t fade vetyat +R (h aid a di- Oz ae Rca & fo ic steptd s— Da ae Ser 3- 7EE Analogy s- Stereo a I= Cav ws b fYat- AeroH og ee EQ adi de wey & Sadr G8- 4 fp & Z ™ , igs meaad Vina i re Px wp mat f+ at = Gyre I= Cosa port) XO) ii but nireqral baKeal eyectanfc KE: state di noth i alraan Aut giqnartiaa yar pie to ECS) Start £ & ae Ep) ® SuPPHE if he asked yaw the Alnkey rel based cht for que TF c= este __, ee Sh ESF 28-0os eu TEL NS parE W CHa, SHMAI FON WaPh + sa Syst & 6) ee. Gos peti SP+ 694 RSFLO 7 TARE the TPE. Powe ty Numerator § % Co Toavatyse the fyclem— Taransien SATE 4 steady State Pertasmance. he tyster : ss ‘Anal ysis hac to Le substecred to kal Fine OF sje nature Of d&tumance ve. ctandard restos eror—) “Pea eqnala Thegeste— STANDARD TRST signals: — YasHeninfut step cfgral 2) velocity type jp? Ramp signa) 8) acceleration type Ip > Pagatoltte signal 8) sudalen shocks” =). gmptys Sfqnal aoei- signa OGD Ae used “Here chine sealste fot gqral © #& ued only % tabi liry a sna Og @ are Loundled Cena’ ca, eetenal g&nay ©2© Ae unbounded snare « %. TO evafuale the taancfent ec pose oy araltise Ampuye sgn . since Leuncte| crgnal’ Type 4 ORDER 2— ds Evey Taautfer functor mrepaecen tig a contoe| Yyttery Cesta & Qader’ Qi the sready rate ananyete depend 6 Type ofthe control system: 3+ the Type Sp the System f& obtained From ofenfooP TF je are whe SRP Gts HS) ye “the Numbet of OfeolooP Poles oceurtng At ositgin. ckternfires she type Of the —ContTol pysten-Ae G@iyH= SUIT Ay 7 Ap SP Cita) P=O 3 TYPE MO Lyctem pe) 3 Type! Lysren p2n > Tyfe-n Lytton - 5- the paansrent sate Analyse elepenge on oadenof- the Conte! = system: 6° Oadles, Of the CONITO! Sytten B btainel Fao Claseclioop TF -gs)__ +t (SHES) 4s the Highest” Fowles o pie. characterssric tt Ges) H(SIFO+ terermings the equatton ie Let us consider oaden bf the conbol-sytten the tourowing example’ Lis ek nr anpure >? ae 7 olp K 7 f es)= US) reese {a p age £0) cers 76 eee orxeco"! “At force cof! ce) i eaeh 2 cee ths) 78 At_yechantal System — - md Fe mds Bt HO enses] x) 38 GaccEMF Cep) © speed ep x pez tot at? = bs x9) 2@ gur of an Evid ninth er hewing staan Ff aud then Continue the overall Alp hauled based on coresfondiug block Ap > she Bode agenOLTF— a Gore = pl epg a ee i £ a cared ac S78) —>-TyPe O yster) VGH) = p+ lly s (ReSLYLS (MSTB) 2) @rocmste + Hts =O ore == Steady state fecPenge Avalysiz t— war at cleat wit cttination of magnttide stead ystate z} 6 a contaI0\ meter avd eurputs ard clepends 09 TyPe OF THE TO -ovtatn an |xprettion Fox Semom t— RS) a) &(s)= RIS)-Bts) Kt GONE Ete) = ats) COSDHS)_ >) EHIE ef) (1+ ggsrncsi) © R9 ear thE ected * eons. extto i url fe T % ie Ss Ie ett) = runtlt =Scc- tc L300egg = te ett) we bY apply ne FPnall yallue. TheONeN) eco = It SES) S90 evs espe ik SRS S90 FGI) HS) therefore Sheacysrare €05— clepends on TYE of the Tp % Type oF the Lyshem - rte qu) HS) 59 > TEP op tp » Tyfe Of Syren) To. obtain an expression Fos error with cléthisbance oe ae —— ~ a ie Cee BOS) ccs) E(s)= RtS)—BCS) SS)= RG) — ccs tS) wrete gis) = Cewqns) +00] 2) cesy= ES) GCS? Grt8) + AC) Ge) =>: “ ets) = eis~Laterqregnt9 + ve 005) 1) eC 1 Ges) gues HO] = gts) — RDG HH) cei Aen Da VF 4,8) G20) HO) te fe = RO. ets) ae) HG t+ GyCsrGacs) His) H+ qOg. OHO Lb ess = tt SECS) : S30at &sg = t SK) eae . SO TH GOSH s0 a oe an the a Ee Sere dtagren Gx. Represent the plant.+ HO nen Plant 7 then iene aang dfttunbance ft occusyi ak - a Nh OCUa: &e aueto widtarbance. a ” ae a aoe ” a i @ None Sreaay Stare &10 cue Stes) goon Aye WQS ot ») sven gp Res) = eee ly 82 Hg(D HOS) er 268 = Sao T+ Gest) to_detfeneot Tye of nputt g— =I, “= S00 1+ Ge) HS) fe tor Gey HOS) $90 eg were kp= postttonal constant | kee te tg— KY 7S yy raviecone ype egg er 2:89 R)= Alcs S70 TH GINA &s g (AS f $90 ~1FG6)HG) " ee Ir S+ pr SGN S10 $40 a —-* Bo 3 GtIOHO tr SEHO ? S00 Zz —- ion) H., eg Aeceler i WheIe jy = Yeretly evorconstanr were ee Conslent rest 8 Gb? taal $0 —-e ee ee 1 Kv ued [ps a ee Eom OH Steady stare expo feo) different” tyf of ysrem 6 nao things * AN ish Ananysig Wwe are ebserve ve. fiash one % vorat fe the selalion bbl ess F qaincn) - te second one BA The poaclical ystems Se secpericted to Tife-> ony HOW fr wil be we wot cafecertt: gn= © Ct aS) TyPeTO tyrtem oa CHS @ step ‘ip tipe— ence PT Resy= AIS xn REE — _y £ GD = fos Case EO ECTS fs" earace) CHS) SO C147) = TRG = 2 =% FERS, = a bs= Te). pe¢) Pasabolic Alp s— RU) = Ales « Puc? eos = A y re BS) we sn Cras) 3h = “Vo =” NOE fake Romp tp — Pasabelre tp oo a TyFeo a karo fe | Af oO 7 ey IE ty rd Kyek ee ) 0° AR) rpe® 6) =O ka tKaek Qbsexi vattonb *) less ae BD AL qatu tp ef the matin Aim of any contanl Auilem d %) AC ee type of the on pei 3 enor wi veducse aid it & Ze values fom TyPe-3 Syieme esrrias(&c) Fon any thpur Cttepramp-) @&s=O + Gur we aleon'h go for TYfe-s system —eventhogh thf Advantage alto havig « Reto 5 estan T& enbr=o- 8 ICS compet. “EH nowt tle. aonir Lee omy Pe-3 Suttem + ther bow doryou krow thece two ferlorg. both ave nok the reaton . Slebility — stfi) now we Ston't thud aboour, stabi ltry “then how Sid you Say Stalot Pry. x sf$0 the Keaton H Noo hineasitle® Of the tyttems « \AN ane — APRA E > Standard Test Sqnayt lee te rare co ace Type-2. sype3 ee mee gate % won drneas- Coupe th not are Aes mare ates oe AS qomq higher Tyfe » Me Nordine ite inte loRe=0) Wn the ysreny become more rredoninant | rat Tom tll Cag — = the Basie chaen of the -& SI } a ' D Hopttesyaye te te ee | -Fj0n Lfneas] to Non rene any ot oe nontineattfe: — groar of an it BQ LTE ytren ne y ime one i : i 3) farunaton fate {ave tanta alt tany- UacsCao ro Gwen At frentended te sigo ther kodly present mind 4senr-* , - Wg’. Beyond The mantimur ype of ny [thea] system fc TYPE 2) the. Lystem enibi ht ronkinear” chara more clonminend * ERROR serfess— ELS) = RAS oe FQ HS) NOG erey et rt GUA SES) = RUS) LS) —repiying anverse. \aplace Tran lta ° ect) = (Res US) a bi ett = P fen rte-t) et by fv on) oO (ey te Proper ‘gi weclon't bave ane oO 7 7) jf 7 ete = J #0 v(t) tt ra, g oy = oD Expandteg xtt—-T) usta Faylor porter wet) = eT TEU F Piw Lips oo : cee A ew = yr fecndt— +) Reecner +i {23 ¢pAF ° 6 PALO ayesceftne 8 Fs * = the “pynamic 21707 contrat” ko= f fe dT o = ee — Se) TAT = me + far ecndT oO e F me {Pe Aner 8 a te) = pyre) + nC t ni D4. - BL a oT ae ed) worse = pave to Fi pel ECT) 7 OST. canbe a ed bY Anvele TO Fine Dynal ertor constants 5— a oe Laser y = PCS) -f. sv pies! e eS AT Ler et (eon Late $70 aa iy cat - ¥0 .... 7 in eat) = OT [ro esr oO wh eos ES fron wat) = —[rgen at sh 0 =_" iia were 9 5 6prHi9 —_—"'Relation bw static $ Dynamic Error Constante s— nw let ug tare an example — qusyH(c) = 100 5 (St2) Be Static & Sars) Constants ts ) Fp= WO = aw abo SCS) ye dF A|0O_ = 50 7 (sta) = Kae it of. _100 =O : S70 gtst?) B Dynamic error consteiot _ gest) eat eas HOO / - -——- = FIS)= Tq egHls) (+ 10, eH) Ko= IF FS) 2 SR) ah Se igen a case 0 po, Be S(St) = Quy) yr GOES) aero [te = ie | = me I, seh = ft ee at as a (get 400) =~Sl» ERROR SERIES $— ee =I ech EE PETE IE HOD HS 5 a Cae eS J yeh) sear > Fo=O No Y ps oFR ED I Hi lo net se eH inte ari wo Yay=o ay en Erte ies , ot x2 +0 Force se ae ee Lorman tie °) series Pc meio 2 = Lute oe - ea =e tt * gO %% & shearcur Methoal + wn A “ &o= otf Ge BP L Ea prepte Ple = 50 “oor rel ) a uae sox bo a Toansienl State nal SB RN Ar qlealt With the Nature oF when Supjected to an pir an Of he contol tystem : a. fe @. Zero Oyler FyTed ! —Geneealiged srangper -funcion bo ars Be . oS Bs) = Bom vetponge OF the Lyleny a cepersg on arc ata Pr tas tS por for zero orden, Systen), i Xo) Ko 0S) ~ 20 id are tare Vuhen at the |S" ag 2ermh , then we vii! Fee typicien tt are FO qe ero onder system >fEFFCTS OF FEEDBACK eee ate 3 eB nol connected = aT FB comeured conditional yclem C Nodisthurbance) FO any dictusthance > OLTF does nob extel” _Anrernat fenternal ~ atte cA) stabi ltget, hecayse O connected * we anatyste te caned “oenst vty mote te suppae Ap there 1 A antersaileits disherbancel, cp Woe Segc Fer loe Comex ungtable - We Lay she Lytter es tatel tO be highly sensi Hive ssyctemé « 9 em orcs Suppoce af wnene & 4 anteanat | gitkenal f FEE dittuawance » Ff the -gstem pect gtables we SAY thal— " ne eas te , ery CU -tyireny FE LESS censttive systems i . ae el sao ae dicturbance ~ oe pec ni So och ae win'y sensitive systeme where aS LEB AE yes Lent Sysn + SENSITIVITY ANALYSIS al la x= A vantable thal change até value te ec the value oe x a rer F change pe * Paranete yha ny me page ML (de §: ye cnange.in P Ye fu using yB fam we SAE toying +o of oe: 2 eo fas — mes) = oles ay muathemabically . & ROS) ay cu fad the sensi pute press a clefinetet ee “x= MS) B= 49s) — ( MCs) GO x que) per Gs) me) dass) dent roe ‘ to ST ot ‘ iy POMS = ) gd (Gone : ' my” a.aone) epee dere © grouse €'8 go NOH = 1 ance ey [qt9 (0) + Hts) e0) Tepun to “take ffl)" RS) as) a avce. 19 Ef ther Gis) ©) HC) * Cbeer we cantare he Ateturib: Dsensinviry op cies weorto Ges) 3 wir to compare wiih ob 7 We hae to fare the dickubance wm GSD Org co Mo = dM» 4 qo ~ qe” “OS were | mls) as) 1+ GY(SJHS) - 2 Cares), ot Je _ HERES)mcs) = crreuH@) CO [4 CHI}TY Gey el Cree esyHO) i a CB GINHO)+) = fer acute a2, cr reuese] C69) oe nd 7 ; e 7 teens JO” fos ahs fe wheae. | Ges) HIS)™ Nowe Reduction 14 e*) ___ Retuen aléffenene ion Ye Wal, olcs ale wighly senstiv® % so the conus! to ant anrerna) ort gytesmal d ecturbances + fe srecluced OY / awe. sensitivity of A cated loop spsteny { a Fada of ciP gist) Knaon at" NAS sedutlfon| Father » ©) “Rerun difference * GD senstetvtty Of cus cry HO) x= MS) = HU) : we GMS). x Ae 3) ~ gh) mts) &S) j({kere) . Bo ae) ons) C4 GH) (agen) & = sete) ), nr 6 U9, &¢s) CGO HO)” EeeSeeeeeeeeeeeee ae CFG HS) Ge) “ome Peer ‘ — GHC CHD) = t+ Ges) HS)nice r re te: A ¢ e (icion fe alu % wmte mM negate? Aowwule terre: of coupe ee ea) In beth swe nc 2 caseg siete alttfe . s ie e= Cr+ gor) GF oy: so qs)~ Besta) ges . SRS) Gs Noo 1 44OHO) Ye) 8 Be ates _ t+ _K Ststa) eso SM i. G. oe a oe k at a es 4 oe sath ee e ~~. “ . f zat) — ae an a wer ‘ sci 4 ‘ F heqieo He options Ate ® sensitivity bee 2a 7 ne 3 Oe Zonye COE ae” & Se sts < e both OY® foe ere Conpanision Th yaweg 2 AEE vag A ve_* agneg rave IE x=sense y | oF me system) wate 2 on w=U : v=u 1 e&) RS Serre] __ 1+ Gago + Bis a, eer =H se. (BE Gre + SHE ES FHI ay WO = AS) = os) = RYKDE =0 RS) ioe st yb oft. ea Guna nn) me As) ae Ae ate Jorn (54 AP = & ae oe Sengifvity - noo ale Ke concept can algo be appied ton Pett HOCye ve alraqun “he Sool” Joc: hy i a gene = £ YB fon he qver € a cst) Noa Awanr the value of KE BAP.We ae vary the Values of “Kh fom 6 to 40° AY BAP(O) BEP oF a system ust occu fosr highentdiver OF CO ower values of K? Aas i- lowes walege oF Ki a array fuang RL tn the Neel Ne apply sensttive Lorch to $e rool docys> Thit concept fe © canted ” Yoor censi tivity" Roor SENSITIVITY AC we JAY K fopn 0 10% ~cymmenyel i fh fay k Symnanign ead change TN KEO2* Now orev’ aan tudes enange the K value to Ro ayer. the ae are afstuvbed (or) gomq fn thetame ony we have to cheek: 4 ette sacks Wahi sensitive aarnighes| IME OF F 2 fog wel taper” “lowes "Kae cheek Roor s ee x= 1098 C pe soe gain CH) Rook cengttivibp=.S B4 =; Fo (staytk =o R= — SUSt4) eo “1a —bd yee) 2-22 ge ap ; \ « 78 ge ALES 2 fe casey @ 3,4) Bae (Gee aes ef = 09) Lt fee k Tes) Geethe BAP octupt ab Joes) aves OF K « S| = = K | Se~1 (BAP) = 1 (AP) 24) Thar mean LAY Maisie senciyvity: wat medys The Poled wit! aleviared -Fe0m oigtaal Path: yore a qhis & algo one Of the s18K¢on #071 “hag Et cam clamped ystems anenot designs for cotta damped Syste the 700k at seal 3; Sguel > SO Af any elfcrusbance % occus the deviated Fem fH actual RL» Since highly Sensffve™ AP lower vatues OF K: is a vty i ¢ on p_ on He x Poot sencittuly ampli the sensttivity of- scott — tocuk Path» wsv to Suckley vata Hong eatin syste gang: me Root Sensitivity & ctovenselly Paopeerbfonal to te Systery Gain 'K “ te the 700 scencitivitey fe higher for lever vaiugs OF K | lowes -Foa hiphest yalueg Of KR * the Root sensitivity} oman ar Breskavoay gud sierin poinys . FEED FORWARD COMPENSATION S— ny alisturbance Ha cystery te sepaesent dike th: oe) & &) G9) T es) Tie) be > gett ct) { geting hy forwald =, compncalion* Guts) 42.9) s - Geo ___ RCS) fDCP=O F Gyls) Gl? HE) (8) Ges" $269) : 1+ Gy t9 6126S) H(S)s CIS) G65) G26) RO) pet Gots) + Gee): gts ees] GGT HG) FO Climate “he. ef fede oe nh the 4 Dich~Iban Cex ¢ DIS) 7 the. Condor Fo feeal Pomaral vrata 3 Fe ‘S) = Ge qc) ip “Vee ge ag) da ew MH Sr Io | (aa) Ghe COMMite ~fos, “Feec) foveal ommpentator TF GeL(S) “Yo €)fimtnale ine gtteck of ctetunbarcer in a ytem 1 @® — (st) St2 if 2 eS &e © rar we Ge (Osa = =] x if G05) eee / Tage San por nies feed foomael courencation fr we effective way to eliminate. “whe — déturbance * “the. nary Antaoduction to “Ancuctata) ontrorteys’ we ayeady argceuce that, an Antm@duction clatt oo I: Propontionay contyolles :— Pre p= kee ‘oe = Proportions ga p pe = kpes) es) oe) "pay = Kp PYur “| a ‘aontron er net etre atelier h 2 — Vo 2 Fa Her when Ever CerPonr charge ertosjwih OCU" at ” uo Aner » f plan”? fe Twft eof be thoy fy belowd> ~4nal Level rrameeduceray cyan Fn the FH) aS EB 63) or fh, S contolley Ky Noo Wwe have bo aualyge boty Afeanancet inde feet: ese tk — SO Dd 1pGies) “Gr(S) When suddenly ates Tnpub inf Increqae 9 veatey’ eve) Cuddery increases: = “nich wil caute om cudden enor the wil be sydicate ar shown in beloa * large oty of- water of ae & ty inthe Tank' e f a coynelier voit Aye actcal r qequcenh be havious + , - P \ qyancen” recpope aie meek he contonel revit | [hee oe quiury to the A ‘cudklen Change tn ips AF P= kpe meaye Cuctlen! opent tne faP~ [P= epa (cce= A) Steadystate respryse FnPIelo aa mest ice err Cacchown— olf si¢ \\v fr 4) chould be 2e10« that waite, Jevel ray ae to Spt festfee ee eS 2 S190 oe (rst) i+ EP 14st % ame a 8, ay oe, noe s ae vel =- AD > mit ee |€s5| Ear rep : = fy fae e204 soft Do be 2670" Thal meds Ane heady, foray me PLoprvoral covfaoles will) -AMPpmved cM “the ancient velponke » bul ah aloee n't ympmover che cready SISTe Response since enpenfO” Ine FE TE ctewback’ of = Paopositioual comfarlles, + 5 kpShoud be high: beel™ fom mating \€cc] ae miter a don't tare high Xp ~~ a0 TIT wir be we wilt See * why kp Can not_be _aneneaited t~ Reaisn— Noo Plob the CAN Ba P&E: er urconceser Me Ake te Control cuter * - Se we are Ne controler (kp). P8 when “the Tap (R) 1S Complete ‘proportional banel eioeed het ay io bho TWO TAP change 0: & 1007: # beled tal ?'ng Opi ntwated al” Ov Depending, oF) aolet- @ oulder on Pte ap Tap completely OFe9, sner we any THE ae! BO o¢ Yor eC* Bor every Value tome band of eveor uot! wat? No , 6° fee tm aime ry? gruared st toot’ “presen “AES Fe Choon. peral tone ir ik SAV ; sroud > fon completely open the Tank” ceo operat Onk ” " elpge “ : fey, Same Cini 1 OG Ves : 3 came th Paepoationar Bare ( FB) = to. A aye HAE 0 * tomatic " Sh youre 4 oy soy cay > ope BY, HN, : ee, stops eo eee BB? per Se SE [er =) p= “ie CL, enptt> +6x cot ! i AL kp p SPB 5 comtronés, entbibjis only on geek CPeahos SO that *4 eT? Feefositioal Band.) me conreller han mM on sore states Cali NEM having. Papas tion Contre Nore i~ “ tairqe Wave, Of kp» ted aecluce OFFSET 7 bt tr AYO reduces Me wrath of padportioual band convertnp “to ON-OFF Cotto ley - : R Anreqal gesel” controllet 2— Here the rate of charge conrdiler © Proportional to eno’ Jp Fe dtvecl ae xe ar * ar = ke __ pe foe kee anteqral sealing eu) wher = PE kp feat pose KE ets) 9 ee : 0" what £r ewe ve erasing “OS re tant Lame laler * me “One Anpori nN tne gefmrprcance of- ane we wil alee cute (). ska = 2 B= aR WSBe. ft P= 5 f wat exa) Pe + cv a i came : Analysicmepe ate Alto Lame A Proportional qatrolier (same ogn) wien tudlen gnod occume 2D Pe contvollen rverpoyse =O" & Retpente Fs vestg 100° Ans: rom checki"g am “hat rerponge -F8 {low on) fact 2 foo any cysteny af tp fNutoldal > ojp -cinetotdat: IF the ofp & phate Lead char then “he sietponse wface 4 afte responge ee Phae 39 Fee es fons eee = Stuwol™ pes J staat ar ard TS cote. bk, sm(eot—M) pea cel: am 8”. , asin ee ote aq bE TH cene ge te t a eye FH wieadv of antegral contiol B_reponre AION” eng tr HGR we ive 10 check wkelker Pe bring bate TO LE Rh CH nop -Weha thab mecys enor =O Ger) oot check + a) og) 2 Now A Ens ‘ Gs = Ih “$ #° (nsw (be S40 a ys C1ts)) FY ec = Seales ==" . ~yaugh sinfe feline (anteyal contol’) ft low, ftz_marer the- Error 54 - ® Dis adv wop -nic_tH response & SION" se The steady ste gray =O . aptisteme CNNBa changing tye YAve of] we cam Rese> AP any Vale» “HSI meAys why uteKaigo called 4S" R&ercormier” crime te” eng, ” y- me” Anne Roe wh at " Recer #ine” ees jThe Disadv of- neq confriolley —6 tig, recponge 0 Emo slow: a pe samy andant of vine SE the. rate of change Of Cnttel ofp | cain be reset cransgig the VANE Of OT dal FE Be ALO KNOW AE "Reco contvoler FVALVe CONTEC ReANee— ‘ " conteollet At écato called. a¢ abe Controller be cauge op ft proportional +o Yate oP darge of sar 221700 * x de #* SF = tp: oe Ps ar scaling kp = pemwarve 1 g€lS) pisi= Fe = | 22> Ko's a) Nee ter ws takes a Sudden. Change @= Tp are errot Ct a eriot)! . pnaysys & game. (water level Analysis]: Suppose they eve) Yeackeg +0 higheraT can wot recpond 1 gentain tye of- Briers * Non Be Fe conHiouounny afte 5) eran HALO vtec canto: P= atay a f dF conga tigal | nae P water leer fur above. the sepotaty, £09 F- Fenor gen tp slaeit tosifte - or) eventual jrwt Meike theTaP completely oPen + fo Yane tule < Tantoutier * ab reatitular Point” rene empl » % Andic(paboy wit! nol weer ar all toe timeg + AIF will wore when the enor ty namie \ notet~ Stung aK CTE le e= Stu 1 i p=u ac guest) = Ty coset 2 re crt £090 ar wa 2th wt aw ting) + ae rene” Becayze of- * ALR -aoticppation neture win erate 19 ae ema. we Aneto itty in _cyctom : res ae pte aan oF IRB controlles. j~ ir cennot Respond to ~ certain “types of- errors: : Rar € ako tnom ag “xnkiciparmry conhollet » 6ecape it sends a contiet anal in anticipation of error: na" anticipation = which FS qo to be started» Composit? Controller Mader ¢— eiar we learn (P+ £) mote. p+ & Mode '— P= kpe* ae i thee ee the comech p> pet #8 fea > '0 vepresear seat vee POF fhe Cre RO, 9 WEE te alco we comer ©0 EE Effect on Ta\ansent siate:— when controller % tunkeced ba tgs \@ e= sfinwh ( petpsmar + ‘Pe J gta II Pe kp sme + & -teeaststS oD) pecome- overal' Controller olP “17k re fo GE eator—™ (in) ] ukete Tau! Gag) aq aug: © sluggehpensvice® spaefore (PE) conrroller wil ampovek DalY Taantie! “reayaareer / new quecHion i64~ =n Snreg ral controliey a0 trendy strate ror" mproveg HEN we Ao you are “qe for (P+) oe $e t ae, + Change t xt Anteqal controller — pane aq y wir Hee" " aa \te): BY Loe we can cnange the i Png» controle - we BY chang aqits & canied ~ kp Xe we cA" po ste jag. Waele T “wotlg wy emltidual_convealley — Ar you change Ke then slteggite i nok _Oaege* sub — by nang 3 sale aypeayk + shar why ne aed” A stemely stare esl vgraPTONe MENT wuts “cempe: CHD) mode tut ar te ea ice fo cin aprmve. Steady date Tecporee* we +o (PO mode € simijar to hag compen sella “ee ken compensator the combination Of- "4e 7 value ey hace some. better improvement soreted to tot. tov (ednale sytor tO? een sac aete nceitoO Pad: 3 moaedicar el peorrtiont ee CO cater Ve. No Bo-n ecntes NE =Rcstl otyce 4 =O - Ve = —Vour CS Ro Ral 3 yrs ve (RCH = ve Rich 4 Ree Ree | CE nO Compare ayuke with plS)= “kp (i+ Le) EH)” bare Ne i here — veut Prete to fom conventire, ou MO ou to AE AMO] an Auvertten- “a = (weave) con paring wit 5 gee. i [res > Wis contmller % capable oF aemproving ony ready state Retpoyfe- \ ” what Fane Effect of tie _coahidller on _Rére Hime acetone He We lyereny ai atnenese gs ~ An undetclamped resfopte- At Yea) wear uit hapfend to mE || Y Nod Adlivy lag comPengtor merge adalliq ee ee GoeeagEy ETF © stellt J ? eran SH bil! s eee ay (aS Youreime ~> — i so gt®) sea fiy > Speed of resp A ne pr qesef wesFOmAL therefore te effect of kag compensalor Com) Stabsithy wold qeclices 4 ef |) taf: ( Ty Co~1007.)OF- ‘Op TIME pa connolar"yore D at fo capable of =mpool Of “the -cepstem) omy * 4 the steady stare dare 9) , Me caer contmopjer E)iminateg he offset of Proportional 3) fon frautotdal_ ainpur soo phate of Whe controle, Olp . by Tan (am) + Hence at © _cfmfjarto lag a Pentor anrerms Of ff treat opent sont dae tte: me Foore ty Ab Fe sinter] to 3) Ar increases “ne ale tine ofthe. ty.tten + @ at neducse ne Pear ceashook * 3) ar Tecduces “the Bandutd th of he Syste g) AP yeducet the sraleillhy, oF the. tystemy becHAe fe add Weaoyinant Pole * € br tre cysen i— Rifecr on_onder] of the ES" controriey pan \T iz eefu per ito PE compari Gs) = cas on ver = | win px cotaotea gaz (eer t E CRS) (1450 =) : order =? cttecron 5 — Lo types] 36 we KpMsttP oo yeUrsY) y Test asian qitp ox Siti) 4 ep 20 Fe aT 4 [ae YE wie)QRYn= 14kP at oq (Ger > = he crite) : a Te T* ——_ dlesekt = | Ses ep fas gear], (et D) mode “TZ, kp +h “de =p we corech way to yeprecent Analytical gqntetuo Pe pet Fpl SE pts) = j Kp ys yes) = Cay} Pcs : kpCNS) (Pad) = min offset” eOC lef tarely meet: man enor clkependé 09 Derivative controller “OTH Conover” FC NOT Capable Of gre Amproving, steely Fe 7espong e * —) Tht convoller” having he. capatittty, of Ampaov"] qeyntiod” Yerpang e * sypneee. we are uitig ater controller to Ques °> vesponte. TT speed nck 1 PHB) a ; HD NL nett of cootroley® io) rarely we - PIA) PJ ene Gre wei r i sie Conrioter 8 used where bead Hine (ad pelattme % reppect on Transient shure: — i ale - yer 3 P= kpet Kpy StLee eg = Shale 2 P= tp shawl + ep ee eps ino auntie cosa PE feet P [eer be) © sin(urt + wei) q rales ds i )9 Fact refPOnse: of contalles with PD confewehes— Gis = Kee t $80) SCs (sr) 4 qypest’ o2bT= NOW Ces without © eet Tae HO ry estb= gk ee o enewvk > &° Sreewith CRED) conteralle® * we IFGS)HO asst Rept MD s+ aint TREE =O ie i 3 a a ens >) [a= jrktp ee fre a cee = Set I c egret HKD (0% say the speed of repose good cpeed of vesponge wtt! be atoaye interns of atte time only’ 0 ap} tbs guflh 7 Wee te ate _acldisg a domtaint zen0_ to we TE 2 Sewtitty ne withoniy propertions. 2) ygfti PAD 3 = \ : Freee & a mper % =_ ith i RV PPT { ‘od al tt CF ERD) Timer “gt ® Mp db ite rd Actually dn under clomped. case t+plo Mp: bE» “rer vit) be Understand fn auother Way, ie wf olfecues, \ateanscage An @ page 00 cince doesnot Fmpnove ‘steady eS qpar *e 6@ ayiO© Stare acaneyed roan enor =O * 5® gr 0, rrdgends Toate’ oS soa ual nea) ty pot. WI MEDSBEE og: » 6° tre Meee since HE AEE we Jo w nope arin ¢ & more pretereree Prony ce) &04) ; — “o vatir dominscleparely tappen = et Mp Tc WG 0a dow clependg en &" caxko) el) Nové:~ ASU wy rap open at ae Level control <4ySen ° . fa0iN4G 7 ye orate control], Het an ees PY contra? adion we mare He water level ar a point * Accum we Ae uct4g (PED) controler * pe tule F flow rare Wore + bet cutlet & mores £2 ad. 5 a er 3 0 ema sudlen"f yates, evel decree’ + actually 257 3 >rfar— os exten evel ® continuous eae sade, 2 _ i weet tq te mater et wn one 9 eats © water evel necuced - at Tehie Bappe, war ol shevane & erosed + © weitear Level sp. © -#H9¢ cotll imareareg fear owsrttech * water \evel away EY ae afart fan tne’ conreotter action est wt coeuse” SO Shes Jee" rece’ bat ie bp ae kpld i vit pe cage FOPUATeNt : gy pnd en \P” sie” Comes §ntd p = tear + (Arp) Y acon + : ew eat t sys voit! warhend Fealy note * eer Ar recieved G0 Sanig, WET ane expres? ay Rak over wme pectvarve cont tor ay at eo shor 3 varectevel T=) Rey 2) “en corto) 90R i “popu oF aie? eloges the THF mpi: anere 4 youn Ae amat) | vedRe*Ni . Lear fe capabfe of- Teypaoving he. Terangte)f Stabe. (@epn OF HE Grerem onny- 2 fom Sinulofdat Anpal the phe of =the controller Op. leads by Faril(why) + Hence FB stoi to’ leadlCondr Ainreams of- Fillesiing Paopestyy ite a high pass ¢rien- Ar meduce fee time.» Ar Anerieases peat oves) Shoot * ae w * és perivatve AS SEED . EMO ~pe. chanactenttstics (F'50) pean controll cends —anticrpatoety —contael signal by — Faopertfoval — Gantzro\ nalt Hence ‘tneseater Feat qreeisheol top. Present of _mavimary valve lve 1 antictpatorr actin) gute. Paropeattoual to Profery : Tuned vate of pH: Cae te]: nus & appicable Onl" tox undereawped not for overdam since cores) 6) ab anesget band wédth* _ 4° Ar menearst ctaabt (ery of ~the -systen- becacte FF is 2 abmmant Dero: shah enor eo+ bub stl we are cay fe stab ltr T ON what bye meas ‘speed OF necpange , P+ItD) mode : ¢ sta ara ‘i bath Teengtent F Beancient Y ar & wed fo9 ampan ee fe Ha ek Steady tare, wecporee dar of “he 4SO0" Ei % at 4 .cemilar to ‘Yead=— tag compensator" i fil ri 5) antetms of rites Paopesthy ft axbtety "Banos? iter char i 4) neduees Bards’ Rikebime* syne, ert. 07 PAREY 5) Ancreases Peat ovenghoot (eee valug of % gh J - 8) AnereaZ ee Banduid th: Pn ay gocreapes stability ef +he fyclem: : 8) aneveaae’ the vs F ofder of he Gxlem bY L ; 9) At ohiminates the cteacly Slate eer Dfla ie © OP Hence, tmpaoues steady sete resporee. charu sh the Systemspe kpe + 1 feat + 88 SE tte Ce 4g we L—ptVYout~ ve ¢| e cel ) 4 I ete? vet nies ee! ve—V = vp Your ace ls a Rott) Ker a aq-t ec} + = veprensie] +veslRO7 Vet — ‘ ROS we Rasve EE ii Kil sy qe 3 vYout wre ao he Rios ne eqrole tute compared to & a L maiiO nae a ME- Rie - Rio ar capadtrance pit be 0 ~- &@vtwe-: a 2 le + Be Q out Et Ri i oy compas cane en) ven ft oe ee = ro Lect y 6 oe ov 3 os)= eof et +e al ees]conttolter ant 0 tos BOS OD] a) eye 2001S) 4 Cy L480 acy # =O \4GCS)HG)HO = 4 95480 3 sa sl e+ 8°) + loo *° w= YO = 12°64 vad [see zgurn by = g+(eo% Ta) =) axl Mleey= e+ (so) a as O:2s5ee ets)= (ants 20+ 25 (0'2) wes)t SS gs+80) = £0 7S pot OTS ps Cesest 80) =O MH EOOma 3 aati) 7S + gost got ere 4st + sue s+ oS + 80 =O BA ast ost £2=0 a Bir , 160 | 30. ax” V fj re woe are col ing wee . de ro oid 2st oj mal go aKa Y..Qe ses a ay which & 4] fenoposi HD “Gayl fa “pr controller « pohonal coatadlie— cmce PB exter P= kpe oot kp x! 2 rpZl.-: p.B = loo = wo =| q 100 spe PeiB= IKICO> oo, : for rwp KB —7 (0OV olp fos IW enor: woe PLP] % 108 = pi2xioo = 30%, . Ane -[1V/ 20Y) lead High ASL tay > toh Cat fiter compen \ BF Adentift We cantToller” 8 ae} tebe” © & ps) & ara fr controller constanrs * 6 es ; RK ro or ® (ps* me |e" Pts) WSS (i ~ BS) eS) = Pt) an (cept KpioD) ey=19)) controller ar® a CP) pect BF nshfe «9 =fts row compare “net with C rpcoradd C5) Dey are P(S) = kpe E/© pws Cer ge Abe 3 eG controner: P= fF epit Ly 5 os \ ST © psa creer 29 Pls) = (Pot ot] 6) Pe pre 427ge + e ay J at ltr ge -ep 9 IF ar i dt = Tree + arep + Je P arAER\D MECHANISM ey are ejectto mechanical S ystems vahgse fry % electrical voltage and cutpuh # Mechanical aries C Ps sl alestva {Rye * co Seo tet a ave also mow aé “Anverge. reansedacers ten i YAed sestvo mechantey fry control appircationg Sesivo motere * SERIO MOTORS DC Servo moto rc ——_t—4 g Aenveture fe conrialled Field che, We clxcuce mq eatour PEG caret mata aca) fp Conto\ -cyttem » ge uted gartcall we we fat ard AC sertvo Moron An Ange Analy il why word £22)" we ae uti ENPlaMat fon: — iz ) serve> jo fowel applications hE woe! conttel eystems WE Tow fower ciett: fo make ait OF atl ace control - eT fr Rete control-yste™* ») aweae ath me aher) combine ¢y =the. make com : vet overs Cut chould exbsbrt: inca char >) F641 rat aeaietel cull be tfneal: char of eat component oh £0 Sesvo Mean’ optainh tnear Charis appronimare De seavorstOag t— fq fa a ee ig Acmatue =sewo applicabhone —amplic4 low pues applications 2) econ Yu the fpur gy ouppur Should be epprontnetely aly Contre ti : ystems «AAC Oa) ve mole having low Power RaMaYe Se Brow At “seave Motors”. d NOW 7 wore TF 3 -Frech of al Adentify hat whe SIP @ what f the Op > Apu = eq 7% aupeu= 6 (opts ny ANYAP Flew Ch) « Afeld cysent (7) b= rele —0 3 Tm XO Try arp tpoty vo B05 Aanatue conrolied pe servo motor $— a pone constant = Kite oe = Motor A Tae ha paola rckenh OsFeee is eet ae Oo & xg % b dr > Apa oF _gomature PO: igea tat 3@ 2 lg dla +e, =) Cav 8 ete €a= kata cet “ ~ oe ve 6 a Ab oatle ™ = Bb+ Jae — Tense Fun = krfals) © gts) = Fb? a9 9@ + Tats) —~ Fy W)-E_S) = peattas] = Tats) = 66) (+ 8) 2 @you have 4o cee, An whith ey ovendill ip on ‘ 2 % mageny* <0 tare Sn@-fache peat ke wnichegr havieg 4. sath ew GE Mretyar grocid9r = claw - et pie le all) ; 3(°) TS) ; ena l [yeaa a? | zepes | ic op =~ mM oo" wate) G18) ___ ets) Ro pr Sree tAagtas) Cre485) 4 (eats) aes Ter Bes eince. fom Amature ba x0 a Aileen ee Ra (184 eg ) teres —- hee fae aap ere ty] J 7 ane Rasa ag om TS TE OF amncootr Seave mo concranl” * STAC laro Aarne Conttolied servo rector fe Sing peed wack Contac gsten’ Fieidl contwled Senvo morost Ainpul”= Aa > outpob = ) % -PFeld cawent (14) le Time constant @ ory aiegap fis Ca) J bw ip DOF ke ie © % “ o fa tm % hele fa Tos nie” We ete wyke fae motor cottonmo te © where Bp = Kee By Bacteme x 6 ay * ar e:rh%de -O ASE" ar Analysts Of Freld cavtent” a ely Ae = HR +S ~® id = sa’o ole at loa ™ TIS tO Sr 36 smanger function: qt br HS) © E,OI= kK_sOS) 78 eg(sy = OC tS) -O Fg tS) = OCS [ I¢26] —@ &o) ats = YS) yt) Rxs + eae epls) -—(he | NO B+ 0 carte oves* mosttyytess BH ciet Te Armarare Contolied” « pre deppn ble oes cres swe caniiy remove he £:5° anctanttfeance of Bate sncig nt? Fiaance oF feelbacr in acs Fe called == * emo CH ertingpnaation” CF £8 go Ww ein (ied contioed method) 5 the Perfed- Ex 6% ELCE ‘atm cohfo- coaciude Hath we cant yemoe. ey Caste emF)' Ae You remove back EMF ina moter ? re we cant remove’ om FB H sath fo crct Ecclet ba tenor fa oes AC seavomoton 2 a 2 > Tv gen xX aoror” wad . fa Od) oy vox 3 04) ain anduebron motor for cha 7 je Torque - oth the wAyt Polaartttt = ) we hare fo change ne Chan 7 W LemVvO mot3, omy ; ae yj one toy onl y when X =/00 chan ae nearly [trea thereaee. “the. +200 tein yy Gnduction motor & geervornptort Lemitakions te F_AS se2ivO +to © eave moro 5 when Ac Tip Tnvolved tree THE evatuato, Fe clettica + we ott tpette. appaovimate medel : rs » FOeyn Anvoived + £° ener element Are Anverd ye cole q capacttoné trwolved * 7 : ctauctionaly simi tp a 2b Anduchion motor motor compared a naer ) at S Con x) an AC seavo mptoar “the motor % efiher seurrel_ CHE (0) pyaq cur ture * And roaque cleveloped bt iE peopoational 40 conte winly voltage Ver The Othes wodg sn quadrature ayetted BY a constant voltage and # thoan ye reference winding: 9 wpe soma oe an AC servo Momo te bull a nigaaectsbone. otek ie x gatio “mall and N-T Cat! CePeed — TOMS) are appooximarely uUneat: Tr % & Tr Km 9 To were TO* stall TOUS where Km = -e- & Ate load ¢— AN a ae tye 7 ant eat At gqputhtbus = 1¢8+ B28 Kmee= “Gp aE an & = (r+ BS) ES) ss fe ghee TC the approntmare T-F only -aoa em, ae ase <0 Eny= comection factor gah \y.- z sope OP N-F chao ES) Here +m i “Some nots eg cel because autome books Ah Be AVR, Ste At-the cope ff a ve flere You wotiltane tM - tf aie Slope *& ve Sloper you have intake =M +M is given spel (8 ate” * oe tim pe have Jive reference to the eae and arte tcer| af esd beet they ane of THO afr —Mla ame * TACHOMETER 2 They ame gpeed TANS Element —_contarol tren Woad mpvirg 2) spree corated Sep producet) (As load cota =) nigton cont &% BH iE oly ore of the tH ouk of ye TWO wi aicdtel bY a constant voltae ‘yi as Son fy FRC +when he sfot01 fe statfonar a “the Pheafpheral Mineiug ‘mefenence ising. hg AS the ea fon, aclateg rate of- ie Of Flux indu an emp ‘ey ais 4D speed Gf pe melon ee 26 aliaectly Rropeabions Arpul = op = &0 euyase. 4p 9 eon oS eet eg « speed €t5)= £9) & * ag - cat) peek o> br Sie Ec) = 4809) ce a where ,, = rachomerer aontran + este => eisy= tS ets) cow ACA TE yuan wate ks" operation ‘Anarysator | pu cantare OY wit Yr be geld taider 4 BS trios Ra ae as = Kr] Ra he St asth)SX > ypu contr Cvanye > poate cont “You Can! F Chere * na neat dage 9 arie you change no. of teeth 7 NO Ka 18g? Can be onarge AS we maitatn Raztontt cece S00 we are vae m oat Koy we ae Analyte the YO = xis) ~ St i i = owe Ke ese)= Sot ~ edo F6fis)| = a | | VI FU) = aTas(2) = _ ran la) wae 2 BEE ie 103” estot Given re scout 3 =) sad |se& aoe \ eat ; — ab et t— ¥ a yee = Heanl | Oe ep. 49_, the Pemat ctheys 1 ge a © awe CSAMUSTY gyn ROK a OG ae ey PSY veuteh -twe gqarer becomes geno t sg eels CedM HA) = 3) CIE (sta) (SH) rete ws +6) [amis a tos gnad [lee v oe a een %¢ to rind the fat TY" the wat uge of = faeyt' 7 nn fy tabr hg * Pia age aco we can fir cable » lout ol fFerence Sinigidal Mpak * “giesyn pet —» vantahion of 194) & a oan) Poraa pol — ese ane the rast x -ronemast Pole: Abcure valuss OF lectis)| ne 2) Boole plot — ee, 8 pele taeqrees) “ 2 ‘de cthie Clb) yaluet of (€¢ha)! « 20 lot letis)| wot 4 LEW) (crear) Vs e a hye tet pomen, el Fouled a . VIX ss vat errecen* ber ‘ai ark canetegn af ee ce aa ae sey ve Fe dei value. 4. poner FS tology CT *R) = Re leit olay & f & et nate Oo we can atierectl{ plot the sete anche « fom of Shreight nes we doar © need atl he POT ve Ot Ue Adv” OF yeprectr"g he TE an decihies* Frequency sesponse ef second orcler tystem 5— she TA OF second order ysem © eh sek FIs) bf REG hoy Jog (0) we carh collar, fo we are (ck fiom tome Frey Pe Meds): . tHe. “0 of lo stale fe we cancalculake the magi at w=O'l Orr: w= 108, to! low ere) cuign een) [rial = Jira Aig dectore value Tf Mm =SJOPE Now We can compare th wf r= MAL =D mpare the wih YD a= Leas since fra WO oats, >) AYA oot nepregent a shih tine. Thals why we 0% for — ~ “Asymptotic aprrovimation” A wrereeve g fe precent dhat effect should neqiecred + Here nh{ —2019 (AP ‘yy only varfable- Hence easeO Loy preqyuency aegion {= | >> (40) wo —20leg yr OA eeO- 49h enregytenty 169000 | ~20 104 de) = aera= —oleY (Won) = —Yoloq. +y0 loz, C™as+c) 2 flope = wo dbflec Pov 100% gpthe gntine magnitude an be convened) Toto feo et rg hres one f¢ ab low FED". & another onesstgh Frey Lonnen foveiwere 0 = —H01 (er) Lo (hon)= 0 =) a8,= 4 C0)=1 1 Poe wep = bon mad tee Be nftude will & oo, agree Cosines| F1eH"! upto. ‘wr tole. ae bell og i be dram at sheitghh Aine havi & stope of HO defer * “enarn ae so vesitedl Conner So_she_Nen linear tato__stalgat Aas Bf ante ctecinle he ap 50 ale cible ede. AS seen Fo10m 4h wee 07 corecr oF or ler oS age eoomer eresyt (ITO? At We Wot etn a oar 32a THA mULH Ok error will be Pagtenr aly comnet FEY" vigg te cated “ERR ar cient" for maki) the eso. ‘as _mintmum (or) Gero wo gsineativg the 13's [in_@@) to 1a” Ema wilt be _yeduces* Nore s- ; Now ane uestion Aam asiclug ee? } - Wankient led i. an wnich eeqion ‘ne OfP % quanttrattvely avaiable? tos an Transient Slare We can apy fr sage PV AMY Yer voutle the freadystate. resporge | fe uothy GQ) fee nye np * soneiyer thtSiena O71 any aupulm ab dow Freqnuency 2e9Fon the magni : 7 naptole FE 96" ue cn a} BH ee hp _ ®N\herefore an _“Teiansfent_s1etponge Tronetoo clare Similar +o High Frey reqfon tn the__Flepuenty rerPonge and __steadty crate aesponse fe tfmflaat to_ tow Fen rexfon? cnet Foesuent'] Domine_ 34) Rg ‘ ofactle* DResonani= peak Oy) pearmas oF tude ¢— ae te the manivalue of- maynitede occusttne. SF recone’ E1SH © Wy * At vsti = wyvragy rad ssee (Teceo| = Pe): PTT a) choo | ) arr correlated with may Peak overt. \eUs) Ti 7 Myr3) Band wieltiy — At i fhe siange of Foresguenci6s Ove! Mhich “the max nf tede. har the value op) + Air indica the of- the «£yctem: te ee tder Giw => Faster ret hanBe oe 1 tap a gfe rb £03) dow Frey! w= . oT eae carogy Hep" OY ) Curopt fey Aye defined 42 the Frequency. at whith “the intrude hag a value OF Ye ‘At thdfeates the Abiitty of tne Lycrem to dart uth Sqn! fom NoBe- An (ow Foeyuenct range Band width = cutodt Frequency * ! = } peti] = CES Vasey (By YY Ona YCue rs cea crate) (egy = * ue (ag 2) 7! =O ees al canta) 2 V Cus 2) = ay *) zc) Ueage at a. 2% \ Tegh = Tey 48 Finest _ = (280+ Vos ye [28 usd _ yp 7 _ve) eet = & ea . yaad |20& stabslit{ Fawn Faeuends Refers Chaney) FFGCs) HG) =0 Ge Hs)= | pur s= Jw grace cineca IP" wcdio) = —1td0 ce Y eattcal_foin” ae nyguter Pol ae plok - a lou want lo craw Bedeploly oe 40 €2nd the CLTF* janarevest the stab Lt 0 eT Geclg foe) LTE Srila FO COT an he ame, wag even to atrae polar Py Pryuter por Bore RIOT 7 we can dad clecHy foe OLTE * IF ctabt ity cof tertal 44 calulared = thal vealid foH CLTF alo: STR BILITY CRITERIA ) gatn coocsoven FEW (099e)— | qtsentns || = Lao posoge 2) Phase cass eves prequency{ (re) I | odie) Hcfis)) = 180" ele poz: so “he Tetulkent” for arty mintrum phacecycre ave: tit phae angie | & —Vver so You can never ger eR eee CeMargin Arte the allowable Gala - ~ Af we can Add thir se S Jqcsis) Hese)] =x w=Opc routh ef gafn to “the ty tery theo i) Ge = 7 the ty tem beconet ey onttarbie_ = a04q Gr) db /siilaany, for PIN: hn it) Gm = Phase marging— ab ttine ‘Riooabje Phacesag 1) pdt) HU) : = wate i) pms Wore qu gem = WE =) foge “Mpc ann smABLE a marginal? = e@uerpy= 0 Bo. = "Pe gable undtavle =) iM PM = ave S: . 3) second osider -cystem 3— wth 2° ee Nee > tage > Wee oD = wn Ris) SE RzNS Tip fox caleulatteg. the Gym & PM we mequifere OLTF « EQ HERE He EH 1+ GCs) HCS) Parag S HO tee (QOH GS) [4234S tos] = 7 0s) = boy 7 OO) 5 rag) ben Guba) = _vh #0 0 = Wort 528 Wy wi tJo 38 (fe) = ur HO 4 Jus ( Soot 254%) Cops) (24¢%tSi9)2 Jqess)) = sh ‘8 Varapy ae Gti) = 180 — Ta RBAD ) = Z bo oe = —1o-+ ras'( a). WM yoo =) elder? : os : weenie 5 Wee 2 3 a ae 5 t0rty® Pee wes a0 (1a8" (Sem ) isi 20790 a ae at Y= Mpe= Prades aie) = —I80" ecavo?| | ahs wpe m0 9 x=0 age eee co ab @m= d onder syste. “por a secon 20loq Ck) meeeta “ (@iol= Oa rape Gh) ~ —1o-+ ras! ( 240 i (2a) i = FO ~ Tan! ( : 250) Now Pom, | aa Een AR WEMQC 5 wa =! WV Wh wR ean re Ae ap pur y gee — AEP Woot + 2 — een + VG Shel quay PP ee a i 29) te Pe a = (23% +h V 49tl . ane ee gt tor fg rad |see. ia: : a+ (| | ¢g = aR yg a) . = “jan 3 r= (Tamper), — san? - atta = 9 0 (AERem = Bot P ao ~ 13" [ (ait rer | RR we can ue efther station F210 Now the. choercar method fe finding “the corel osiclea cyctem tf a Fn OF ve val Tol Qnty For 341 pm = wog |? dn ca 5 =x eur ap qzo's theD pmet e wri ote method awe ner py ke. her the above ares 8) 8 as GH O ee a) RO Seer) r ; 0g) =O 2 ts + ave =O Bs” cyavrean rg gah ag etek ager Be Or poe woRs ae =e 40 .n Sr the value pe tal qive Poe ys wry bE y guy = Sst > BRC. ww Bye oY ware" oo ray oot INE ork} S$ Py ast) = wnt! nt ; rane a aps 3S" oar as 9 ao 5» 01 gf seo: We) qt Siete y qion® = 3c s*+5t) Gio) = a ae 4 Foro +58) aco} = — eee ais) = _ao _ rad (A)A w=hge = [reidl)pee. guides) Hes) = —To-90 = — 180" Now l ied Sone Veneta Gms tet x aM = # B M= 20104 (4) = Ode whab |; ar iL the Gm ot the ~yslem hart. gL TF = a(n) @o@1 @x7@-*” —_? 8 tas) = oe 20459) (Gs) Jgeho| = 2 Vt Be Get) =. —10 TAS! (are 180 ys (2) Ae = Wye = Oelice LQ) = =ltoto’ = —l6e NOW X= [GC)| awe = wpe Zo veal|fee = 9 a GM= a 7° Gme aoloyo ~ 20104 40] J 1 3 aniog (N~ 20OTC? : = 0o-*” aie Wee .\, Ayr option CO)...Zaye Rd e* MW = oF = zl 3 = aa eager P| daeren* a aged se wy = 2tfy = anx5 =3l- 11 vad see 4 Wd = Wn Yra™ mus se = 32" | byad [See Yia(o25 9@ Wr = wy fr RaQr = 32')b T=(2lo2I5)) = 30 65rad [see ra 1 Poles ar = OO He) pHz7 GOH geros ar = SH 100 H2/ 200% cro PEI OPED wea wegiechtig. 37, Crt) CERES PES) 4, 2pores siree Logs phase “gle = yan! (4571) $= aoh® 2 ug= 2I7X20 = 1224 sad [see The man age for Wh 20" slo) = oe jue of s _ ranl(@)= —2e ve fox any val ¢® ‘| we anr t& the ame a ul seretnan ag $0 Ox Tre Ges) = Ze scst 2) qth) = 2 aie Sis (So +2) ‘ cs 3a] |aue] = _2——_ } (as = Bac os) 8 Yu t4 1469 = Bo a0 an'() (aww 5p 3} = arene tan! go yee ran! CEAt w=49c 3 =I ware ge (at) wy t+ yw=q 0 —u EV +36 ace 2% 36 5b) $16 wre [rb weg 2 VG = 1) 26 s%d/see ete — perG Kb — TOSI: (88. fori ag TH EM . Ie - 2615 ops (Bot C~ aa) = —&5 5° we Canir have We SO qm= ave: = Pome sve, G aqewve & viceventd: bo nk fc Co) fon Ftndi ng tne Gm we have to uge tyiay and ervor method * a aowoee values op ‘as’ te. angie Fe igo’: KIA Se" Then sion vot UG = ves <3) ara” ” Mp Creat magnitude) | rare © ve eo SO a 1M (J) = “ Joo — WP HR (to) Sus WwnZlo7 2we dey Geo ee) - Bee? pm ack ow Qe (gy- eC) Arwzo 2 OF a a fo wr iI er ee) 5 ws =» pe 7a (4) )+ Ge 70 paren arwe® b= 40" + (180+ ran! se ie )) =%+(—180 + rae 3))- = 180490 +o = - 2... —4 ° . Phase Angle vate x Hw oH a fst) tse) = age “fu ¢ jvot) dis) Cur x 5t'5) 0 esi) 6) = Qo) aot en) and Ab w°=¥ Lacie) = 0 gt oir er "(001) =O * Liye Tan(E +7) +i = COT (NT) Ee) 7.Wy = 1S, vad [see ware im Tea NSS ty = Woy FR Sreeey> Prewerd clemine —Apprenimation +— | pe oT! theny as)= yi = ye ree xe) 7 oe ( Polat, Nyquist, cote plo) y aceite Les Mr mage oT - concur ; = e = cog(sT) —Ssta(0T) to =c1-ST) FOO = Via pe 1 Nektar 7 TPF — ret Ponce Analyest iio. « : Gina) : oe = Tae! / ~Sinor a comet ~ = rail(~ Fans!) eth) mus raat = Cut y 190)" . ernie) ; = EW x57'°5) HGH 8 eres) 07 @2 and LS a 4 fo salilty Mr=N 0% / wy = 1159 Fad see KR ew ey cu) tees re =O grpactt=0 hay gun 4 ivent— My = oe Le = ey avr ar => 2 gia 10" grog site xeorea) Ka (22 7 2492-84 aa 6 ge 20x ae ‘ = 264 a wsrsad|seeTOFINd Gy o- ww ind GM fon Laetied) RO xe Emagen] Kyerired lf Kenagra © erring 10m Runeno)’ ae TO Find PM it Anau method 7] ‘Tome Y enol method or a pentieulan valve of feat =20 0 where [qawnool=Ly she Hy ET value = Kuecied ears whith wil Fanen ak ge NOT yermainin procedure. fe came- 1 a Perticulair poor 73° hodi- Find "e’ vane fo Graphical mel 4p rvalue. & greats tha hola °° then tare J-* be waaX” 4 fey ely: * eu Dd BY Tang eror tocare a pomh OF hg St hike TA Keegy VUE gata. magnitide. cond THO * compare Klik. as ante POY wit 30 to obtain 49 value: gain cross over Frey" Thge -prequernt, FE Eno? as ie ping Sutg usual elhod - eeRAs, mors At {> +the plot and phage angie pag pita values of- magni tude vertu tol openli Tee: YE "6! etalon On Pola Co- once « & Gide) H (ss) wT goplane co-owlinare plane x anit eal axit yo Amante fon mar tig polar co-ords 19 planes yeprecent all +Ve is in ecw & al ve angles yeprecent fn cw wie + magnitader will be clterared accord tq to xr AE Bye 5 Utes = mere Ha rime ext] for Converting quto eo-ord tare — Planes * & then arate 7 £-plane* su Now theprcedlure fig exw the. polar Por oFiedty aw Auni civele. with watioul 5 nil Fepreteny the Avqle smite a ite fom orfgtut i accurare por tht of rolarrer” we Newer aleenon: thos th tt! ne etecust [ster™ to travel FO +90 tO 0 Ab yowsenh sth 40 want” e se ear qo FO" vohere 404 i eerie +40 to oy Oo to: 2, ten For ger —90'to +? dune. yeverke wexreckou + wohich meame A cry Circle & From 47 fo —T" ecw circie mes -T bowl” for ein 4e you WaT ayaa a cup circle from F357 po 3K’ sas Faun) L si +a fo 4m poy O° to +8p | at. Sa me. y, =ego Es PORE FOr GS 3 A) fo draw Any plot (Polar Plot 1 Bocleph se me Time conttaar Foam + 2) Because we ale depinive he ctabirihy es OTF / 4O tape an the po for Gigi) ok Yauch Plot) @averr we have 4e) = 138 Gti0)= te rt = 1 \quivo) = rd vats) = ras!) nitei- To ctraws polar plot accurately X-arit should be accurately aren +» tice magi Faclek ae taken wyretD x-anil* : accuracy i nor mmportant forysy thare of te ke plot fo impoataut * MSL the Del fe MES the lag cael ate, fo cee 0 Mk 90 for t/t Agcuracy, apie B “Bmper tor + gre qiven TF fe a feat order” ype 0 cycrem shar means ArH creak om Ong af eo ora one pole $$ adled 4 He hen stant} Angle K-90" LD Stan HAG from -A0° FY TYfe? ame fore oadeargl ib ede ak ytkeuadianh oatfgtn’ -for Typena system end A SP JA eguadaar oartgtn » ctutlany for Wiqher orice Sysrelne-~Fepera Shares DE pola ple :— We wt see General shapes aE po\aziplors for teffil Type & ode, TEE TYPE Josaler {pelaet Plol~ ) wype-0 Jorder-4 GW)=T SF = era | t+ Type. Joorlen-2 | jones —) _~__ | crest) C480) 3+ vypedJoider-3 | ee US)> Ta) CHSC) | tps TYpe ~rlorder= I 7 GO™ THER CrasHyEM) (14STy)) 4 = Type-t order! Gij- et = ® W= ear e | By qyfe-l fosder~ > | pbs ~~ SCttsT) | te rype-t oad 3 | Go-go) =| ee | . rype—l] order | i \ ae i G9 SrsmyCnss) crs) « a + Type ~2] orcter— > o TePe |o - ee Gis = & Ww Fe | |Yo Type-1|araerS ' | SCs) je0 ns Type -?foteler | pa ee Stn (458) =a See ¢ = Be 1B. aypesloeter + Bee ews gIy= tes) SCTE) CTS) 3 mini pharesyfem f— ve oxer=S rn 2" Generalization for pyper>/ TH imum : vente fe have one pole LH Sof ve ea) ane ae ee for “typed THES spme 7 he polar plor Cuts the srimes whith equal to the norof zerOe precent #1 Gis) Gar apie fot sh” ys) erreEcT_OF ZEROS ON THE SHPRE OF POLAR PLoTé— OF ZEROS ON THE SNE fon Type? and TyPe~3 mioin th phate ~fancHO“’. the poian plot vfn Aaterased” Nlepative 169) ang x Oo ad w= paints « time ae apere ae -2eree HW as SS es) eels SET) A ee Gayt rr d9) (ites) 3} 4 7051 (749) —\g0— 3) 160 / pals] = 36 | yae9]= ° at woo 3 LG = > pean =it rake a Xero nT" F° / Nolo tel gay= 499 S48) CI+2S) ‘ sl G8) = et — quale) —ranstdaay PFA CNS) 2d 3 Lele) = 180 5 Ladeol= : = R90 4 |G lhe) [50 we 2) (this) = 7 G54) eorent j enecktig, whetner I Cen vo — Paleo) — Ta ma #8) a = -180° tal Cute) = yas Cua) + Fant 229) woot itd 1= 200" Serr ty=F Sage) vette Noo -ine magnftude at mfp he) y= > —— Anveacection pgenh AP 1-0 3 then we Polae1PIO!- rie aloetn’F tug + inte anready rcs we.reen ar ise0) Aeiee 60 on 09 {To Vt (ey JM|=40- be } to= Se FO 0 ir wot Cute the 2 Vite) , 68 Qf’ _ —_—_——_ * onl ae \ @rother que & AP foeys fee 7 hen toe (4) (Re (HE 1 Plor sgttinol cubs the Ve Meaf att + ! =10'6 NOS =~ Any cycreny vbether 1 8 4 eyfnimum Phare (0 % Presea|— Non frnfmum phase grem whenever A Held ‘9 we re to eo have +0 Chet wheher the polar Plot AuterSeclA os not at —Ve wa) are’ Ar may tuk oF may nor cu"not] $-- 2n wwe above TF poles= -l y 06 2efO= -0'a> se zeros choutd be addel before the pole Aocattong » henoay |.genersl fae metted € valid fea ger do cation ah awe rom POIe JOCAHON FIOM Amy anix (er) then she. qenerahrgation TE may be valid OF) nor valta > “The Genevalfged meliod € only fo Type-z, erype-s Systeme’ note: =the Effect OF aelitog | An sats case for asi. te omar cneygted or not” ec aggicalh’ Tels sake yates wlth wil “be cana) BF “pkputet por” Extend it mS agNoles x A point & cald to be enclosed by a corteua fLit deg to the sight side of the afrecHon of the ctor: # A Pont & said to be éncfacled if the contua & a Closed Path + ee an YQ Foy 'y’ FH sz tobe Enciored ¢ > whedie af pointy! Ee afd tobe encircled tn anticloct wh se dfrection - - % An Poa plo at tre eritfeal pont GA Cito) f rot Entloked hen -he. ty.ttem & tad to be table i aaa conta alPaineiAe of mapping :— Ea SS poaarpot = Was! Tanto v shane rom guri= pis) = a - ste suerte oF Lomi, pot era oSTpl tf yori” Ne se IB sa f compaes to “sven nt i oe ye” Sine, > polar can mulKiPY gaa cevde the aagnttedtes ancl ang adel OY a adtea ie aa : * The. vA speoem statat war Ge Rot .$-PANE. mn pls) Plane, Pie ioe aE onto a conpesporat. poinr pi any Function “Of ‘6! Ave “chown “W, atove * The, examplg painctple of OF umenh patnetpleat— vse ee arnene ceed: | oper” cans)! WR ler wane SPA? wae ere Oat: any uhore. any nolef— cere om ighihand sider ee, CRM uve Cloote/ wlidh musF Ke RHS + & akowe Weve 10 4 7 Can ge Su cH Heukon + We AVE tar tite 10%) One Poyyim ayal MOE WCW direction se (Loon ee —— Sx thos Yes when we ae mapping ese fold Tr pe plane «then they are wh occur, aT 1 ed fame pot 7 they will be ar Ai Au poss ( = “Foam oe an thee POA, ten voc ave gett? RE Poly Owe MR - ef ad Shape Ae 4 2 : PIAS PIO, * me a fosih9 polaty (er eae hey BI POMS ave, weappal 4 gene Sent Shape.” x <_ pe) = SV G®) 5 plane, CHEW ye ewe choacee come POI RIF Se ait pois tad: An “HEHE poings are putting tr cualtrethion« alrection B RAY amp Pa pt~ Plane = ped 9 es) plane = Says) v jo s-prane, e We ave noothy we are cmoosen eae aa) Ponta whi enciase Ine POA when oe SPC wit form A -chape * 60 Flom tvFs payee potep. encitiemen& tren a0 —ve'n’ =) CW | ° -qiceeT eqere. NFN=P-4) NENO!OP enceelemente FE qVE S ANAK Se li nerve — cocwife_ caifredtion. P= Norop Poles i”) RHS of s-Plan & = NOLoe zeros 77 RNS OF S jane’ may be stated 44 Af the S-plane ciosed contouy — Entiongg \plpoise BX ROME, poz] an the RHS OF SoPlare sjnen “the cata of. Ft) wn Anbiclocl fee rection + Plane te encircled CP-#) mex je_of- argument” + sphtr fe caied stporinciel Nugaist Sstabiltt enitenia S—- Nyquist: stability cokers Gets) nesta) -aO ScsR) i conventional emetnod of Fading siabity # He Painciple, of Aargumen yt HOSED =0 Q =0 1 A Oe oD | eg rssh) S (SEP) > 5 (Sk) + KCSEAEO 5 clofedt Ico PIS... nr ‘ evo Fost “rime beta Pye ave wT soul pr gest) to Fe" 7 end wedfe. ale valind. sna aA ex! now FomO @O > \ y Numerator of XO 5 cloted nis chroninatos of 2VO > © penicop’ F tow & coed Z01¢ an contteltyctemy aN gene Numeral ard alinowinater parr & caved H poles + fon GO =) ase nyoop rBIes #9. RHS OF- = NOvOF ore i eet cored leap poles 9 ANE S-plean of sPlanfor_& a +0 2 Stable, “the. me eee ree the. ch PUIEA Shy te ta BxE or 67 £0" 4 mulf be 2 edo “eal =) i > Condition For sre of- a Sytem 2 4 S46 SE Ta hep VOLT wow wewaut to find stabiity fertngs re bf my BEES vel). > Supe. ne Me given re Boe have to Hog To apr N=Px concept to ME TE? A om ‘ome! "point arpund Pores & xe7Q6 arp map “hee pointe anto pts) Plane. ey looney Toanseet Fun, ThE NO :0P- poles & 224 in aug of-S-Pane RO i seit 2 F a +218 2$o No page 17 RH shee. si ee 0 48° his we cen’ taKe finite potwlA » @ IrKe sncageti) arose 1 pores 4x21 we have to fake angiaihe_ Nog pola in S- plane, ince ue don Kno he ; L i countens ; were pane —we pores % 2e0S ae et ee et gn seplane* Thal- % we are Harty ) nie ore plane * fe tr! entve rns PLANE whith ad foys Anpily: bub atrawiy polar Plot~ IG ptt. RIDE Be 2 aT") Ta => mapping oF Si € rowed mare li or @ & How but He Re \ SI S é _—> ay, ae | aa tbe oe wt ary ae ore * Xs ae ON sf pol =aK any PIE (0b) se wn fe i met veer Hoon ae ta nero —4o * al Fo y angie & +90 sare 4 amy rota Yi ar oan, you cant 9 shrough har pont, You should encore Pomls arama the poled ar xerol’ tne. Betu PoIEs (or) zeros av oalgin tc can’ Possible — gmce st Mee McHS { i io So 7 BYR the pois or) zens ty? ole t eats x acoarigin * se sintany for any TE tome ey way present on fone tor) yegeared poles or zerol = ay precen » mtral ut Ayo ley Pac sar + 1 polar Plot | io a — pur g: ur RE an ooh roe «= LO s 4 2) ToMaP So? ee ) ap maP Si Geter oe eee PEE ea 3) -7oMarS3i— | 4 nore == nyqurtate PAR for POE can be clon FI putt’ ue se 58> 16 locator of ales nx, () paw nyquisr pier fom “he quer Te" ; (oxy zara SymG on JS a on ee + 18° ae: “=a Cs?) cst) ‘Leap To. paigh con) zea aE caigin:,, 30 SVS all / Sy noneed to map nites There Tf "0 procedure for poy on 5 ent Tus bYrais procedare_ #0 or + sar, wg vere KS BSPreceduve. ¢— raw «Polar plot: jp wae S1!~ wap Si GO)E ae = io “ lr (Re) Jos, R34 a i oye 4 a all wy tO ae age ae ERM ePS aw R300 2 et De Se =o sak me ay ponte ens. il neve 7a prude “50 tHEZe 5 plotter \ maped *o we “ye Yo SSP Si SSI aw he mirror Amuetge OF- polae plot Kt Gls) = tO (S+2) (OPW) NE PHE fo- oz (E20) 0 Stable: Noro |ncircle me of GH NOTE gp you rave he _ yguttr per 08 16s) HCC) sou hou ehuld__ “hould_Doseoive the _6x€ “ gncfrelements_ OF of oohgin’ naqqyuisle POE plot Fox @enes) Ap _youelvew she I sou. Aogulel__ eter SWE re enctrecmenft of C55) PAao= “same re) cst (St4) (S48) & batts pe ayo we have to MBP Si51133,, pececlye— : a ROEM 1) mapping OFS) > polar piol> * } qs 122 _ (stds tSt&) ; aps=0 7 © dominant Mal- “xs point re dlommant + 50 tHe can be approximated. a 1 & wo = 2 = to, cs *se mH 2 ot ir CRel®}3 ee RI a ete 3) pomap Sz, eYad marron oO A Amaie of polar * “py -_— Sy Lily. epiane ae a ger pest ists) # Shorea fo Finding wpe q ® value -— Now fea 4indtng wre s— 61 epee Hy GO" wer ure val eh = peo a uid qs) = 400 eh Tega 0 = ase ~ ei (w+ Bho +8) Cit) ee erty” _ _s00 uel + 8h Ht B93 4.08) 4060 100 ey quart ICsb4~ @) 10-9350 Pele ye = VE = shy elec. > we r56 3 we00 ~ only ye 7 ee airy 4 SO, 04 not encigses the cio) fein * N=0 go >) penne SER SEE re) Q=| _ 5 S(St2} a tee we have tO aP 4 teciond £17 21 BSH 53, Sey —— > $s] wo MAP ye ave Placing ste Potujs around “the tmollos Cire: won are nearly zeloro Sst nor sloninamy *2dbmtnant” * aH Gt) Or be appron mated 34 GO* Sy 23g Ss Ee == Te = we es ur_&e a aida aagnt ted o-nt +M. 50 ae Se » N= pz = -z »{[2=0) stave o=0 tb) gw = Soe gind the vangeor "ko Stability } sstTsta) solr aqain we pave “Ae xeciOnd * no $1 polayfor- ao maproorrgre £223 Minorgm' at : } gg > map to -sentc! Ree arcte vaith—nane - he _ kK as) = SCSH)CSTA) To map Sy!~ = 30 Gisd= Soe) ragb . sk 6 00 & tr Re 45 ke poe a te) Range. Of. *k’ 0% stability ~ S05 oh, coe rote ce Now syepace 's! by ‘gus! ats ——, cai Jis( 44 346+) ould & Ve estates tog magna ee : See as 30+ Fis?) zerorsinee © « . = ya ad [ace gap 3) wre 22) Oe lk K. = 7% 3 ee lye b= Eh. chee ee £ HAF afk aloubie *Hen 14 hale K (exsR) > BF “10 Pind orange of"! A stability “2 %mar = e @ cae Keb =) —3 50% {z=z} uniquewomen Fy @ Gwe xcs48) 59) Sac ee (s-» (S-4) ae -\:38k=—1 S o ol SOT ) Kmar® 733 2B... exe — _ > 3 ies as a Soll sng 3 =) “12H. = Ans @) 9 @ <— o=0-2* cable Aye grave to unstable ap Cio) B ™ 2"4 req 2 ~gro-=> ere 5) re) an unsteele : ee. i for 4219 cron tove>| ony ay “ee er KER 7 Oa hr 8k cane —O2k=-| =) ter = 5 oes! K45. =) Stable kos = unstable =) Yar = e pedi) i— QR ci” ion eeeY Lye A KAY 2 ei: eke 9 Kar JOU e € (eruste) 15) puts) [a oust a Det s a 2 peje siete: warfao\s ler Y= a. w= ae ‘ls G 334 +(e) mans -U . “oss ja oe shoat-cu-me thod ee model wy ae uty we can direct weiter “doar cuir method » fi) G4 (2]* be. et 6 ye) EMO coe Us) ep aste : : yeverse ocet & yeverse S190xu ‘3 YO = 3 eer outer Revere Sigo ee as git UO) hag g8 res rot a . oe 0 Rl. joo lo e[t}e|° ag 600 4 i t ie 24-6 “ESF Y= (1 0 00} — [* oy . We ga: gee = . ve) ost ear BHO FAYO= 256) aur = vty 14 = Agee ae Se" ay age Shortcut method ir ena 7 cepeaaitely Wal — nD) art EE aye) \+(t ye econ ye UA) yevesibe Ye plumes a fe numerator me nunte® en niumesial or” (23x) pg m= —_— 4 1st4 _ pare aaitheltneminalo® + vapowerer ap fetheve Com wiewarer op & thee COMPAS with NumerctarAw — if 2) SxS) 78x09) F gxyts)= VES) UUs) Py asta aad vid ANF w coe st= oe So ne Se, y= a= gx 9 m= poe eh an at! (ZF tr 4] (2) +L °| uw OvuTPUT _ DUTpUT UN yas CAH O = casyas)> (5) ay = agit +, yt tee Dart A as ye cr UR] Tren 3:— aa w_obtain TF F909 __state_ryodel 5 oe Ante) Butt) yo= CREE) pvct) ApPY Laplae srrantform oe 5 x(S) XO) = Axcsyt BUC) ys) = cxes) Duls) aa =: wet for any pe Attia anclieigors ae EP” ran xcoy=0 gxts) — AX = Bucs) xOS. sf-A] Ss > xsd = C BUCS) “5-0 ~BulS)yes) = (ecsa-ay- B +0] us) YS). a.cga- ay! at? U a d ¢O yoantfer MAKEN - k= (Q]X + CdJu muy BN ah _tt 2 een = (83) (o3) He st 0 = o ot ya (8K) 3 AASCSEA) 2 ge: te er es) ee (ay? = 2 ‘ o a= oe a fie f° xl e:[srAl = CU Yl bedan \ pa pa a (sri dali ~) 1 J e(stAl- 8 = Can de] (ol, ae } a 5 y wl oT R= aOo xtes 72RCO + aut) ye a Yee) = O'S xr) ee crate vent=t =) Sate Ag moretan 1ben we wll ef— may * HAE no need 49 GO Fos eyattta" You CaM awectty Apply “he Laplace. sraittstm » gute) = = pyees) $2 UO) =) x (st) rus) yts)= o SxS) a - 9 I ye) 55 KE) 05 KIS) aw WW = oS = X ) se Bp Type Stately fon Stave model YS) « eest-ay 8 +P os) , - patcst-) g + 1s3-Al pas stA)'B + [sta a eae {st- A\ wT +o Te numera for re 20106 “enonndtor PANT = pues e zeroed = ce tAaicst A) 6 q1se7Ae> poles = ist Fl =0 i: a eau Bi cieenae aspen eT: ome) We. Gay Comment on slachiity op. A Staremee] by YY iq VEMUSR of 4 ftate moclel * ae for sapie “he Chg Val chould be LE’ ee s-plane *convertor @® he eo a x+ LF) a cf En 5) 8+ or zeos = rAd ¢ sta) 8+ | st-Al 5 _ (44-5) aattsiay:[ 2) + {sr} od NOW @ él StA= let on ~20 Ad (SI-A) = Ze = ‘7 | (Sree 6 eral = sesta) + al = remas = fs - 2648 [ + Gast) PO ( oc" 5] pests °) g J = vip 5s ash +9872 =O Systane ce = Poles = \sa-Al=0 ae nae we Sl ae are Jineartysrery po sere of state eng * dy co be yepregenred. FA dole eye eure same ‘co tHeRT Sten yentes AEA Equak any Ow 1 VV = Ip and yee 7 XW —_—"—~ ype -5 i conte uabilty 4 obsencklltys— To conto\ tke state varias — coprralabtl? To Measuae the state venTabigs — obseavatei | we CeIn Tes the Conroe! + ebseavabi | n 7 Bit Abt | Ip ating “KALMAN Tes” Y Mp oF a syster yr | Sco7 CE AE RR as) Eee eee eee aa Lee OE cay] Ie | Qo| +0 ak yet “a aire e a= [2.31] qe te as) 60? .- ; en tM] =f sd - cl \8e\ soe (210) ‘ee . Cs) go7Le ad) reat. io ent que ” tmheatem ig contollable ¢ observable gal @ Qe cc ae) -[& see elle 5% = ba) fGo) = $0 lo SONNE foc aM os oa: (O i NOmzerd vergofte 8 i Solution of State euetion *—~ woe * xc + BUC) © gee, Sesmeye Luton] i xt) = ACE) gt —A Rcd £0 7 ste Solution of HH Eu" f XO= nee @ Spply Laplace TANfor) +0 tHe e® § Kesd— XO) — AXC)=0 xsl. $t-A) = x¢e) XCS)= cea x¢e) om: peel \ 25 Resojyvant MAX were gf UTC ser Ay a ef x0) - NY were ewe TRANS! TON 2 fea Respenge * sate X00) = ARS eee wes) ¢ st) = xto) +548) xe = Cst-A)! ney test Al 89) ar 24 ¢sr-Ay! pxot ef ‘hess Bus} 2 [aci= oe xo) + arewoe EXO) eft = cicseay oe pr - st =H =F St 0 (sa-)! (ie 2 J aoe csp? lc stay! = co op o (fee a KODE { 7) : (ae et 0, ~ (ee ae Se (at) Shasta wsttod = ea, (deer ay] =e es one. OF the erorery GST NEGO ® “gy thas aniving “HE pbIm ca popesities of STM ef) (i 3) apply ues protely > oo.= = ge oY => swe crt) > gtatey= oh) och)Wir STATE DIAGRAMS )— ) conpeijareie fern — YQ) = S845 vs) S382 St ys seo, = ors) east. cet J = \ us) gay) HE wl yes) H : aL antag rator biyted gen t dion 95 : US) = AR) D ¥(). ris cho v L ‘ 5 fete |r Ml ‘|e x ri 4 (5. Om) y pay ye (28) * ov cc mattNove aad i an conta Pe tem =the a 8 sa |-c o's 3S _ (erst LON ® e8A5gt oF * =)‘ 910 } gS k= Bo | x4[ Blu acy J 1 + # ve (05 3 s\er¥ sol em patter 27) = 10 0 0 7 dt |x +feoo]** orld os -3 5 \st-Al =0 fe 7 o Fae fete ce =O o 2g sd oo sc stsi32) 4 Coytol )=0 a St BS 0 gel OW ar s=0) “> Ai. eee ge Paacpior -— qe au ar s* (8-4) while Aaig. She pop’ it is etter +o wore The TE 9 Vime eongtant— -form * : : “p map Si!— Poiasy Pdr have spbe doen’ = ics) -2 9 -0'5)) aasCrtis) cae) FfSo" 5)eels eee 9) wr $7140 St) (ied) [wri 0'5¢3) = WB6+ yanles + si’) Latte) win becengs to OF FO" ro mar $77 9) yomap Sa/— pen He, mv tOF amage of Si" spmap_ Sy! = #5. Cl) : Cees, -a) qaKe a comeo" factor Of v6) CS, a at , atheautise, Ar vot) vor apee close! poiarpior’ “hes qe ws Lecomd 10010" ' 40 Aaah , Kven ety) ADP, HE pave to fake correction Lacks" em GQ* cat ‘s(1-0'55) noneal tO wore convection Hackor St vce or ow : a9? 3a wher ev c!) Benga toctprbontst eytien onl ne joo + tare’a Hp le tole oy ED Be ® = ke e oF Ip Fes Stability. asy= ROE pind ong ar TO maps = Polar ROE, = Keres) cava)? eer? (as)? ~—apre ran to \ que) = quay] = age =eer sant = 180 panes 4s = Wad [tec wet=4pe ad |¢ 7 Gam X= eo = ok yo map Sqr ; —., \ w= Eo= is % ar se 1 Be) 3D) : a8 gge @tsd= Se ei) TO maP-Syi— we have. to daaw polasplet* quays 8 __ 1-020) 1gc)] = PE - A 7 I-Fto2ny~ ony yaar Lau) = gots rato pune ee exit 7 s_| w[ fe | » & 2 3 G0) = Sag 7 qo mars3:— Tus dan mittor amage TO aR Sp g@= % ‘| =r RO ROO 36 = Oe we, pe? (eres) (wr ga= 7 ___ ae ' gab unghabe” or Shiceay OS SON ores a = we have to VaP omy 3 seco, wearer sll few polar PIO” ret > Sees. ges 2 4055S)quis) = aC) +0 si) Sore (tbs) J) Ele a CrHes cH) Crasles] (rae) _ rect + rat (1578 Ww es} [ree ~S -40 es) go= Of 7 gest) sor 4 secing have tO be map * 7 MAP SI— polar plot pe SE ot Stst) | Gee] = soe et tsa fo (a0t2) b 2 liaose aus’ = (6) [x53 Si) woul 0 sent vein lte)= _ gp? — 5H 319 — Tanlo's ” Ww oj1--|% yee)! | 70 ° et) |G} ee , L T ip = Weo 2b SEO sy et folar piok at s& tor possfole 40 clraw | NYquitt Pel, “iucee 0g circle have. to chow 4 rrovegpe clireckion’” unttable ees —_—" lo - = Nypuiste pam wi —frespiene domine He Simtla7 gH cattera. an me reponse... ‘ ® \erys conctcler” she -fol)o9Ing example * w= St . estes) MGI) HES=O sth ot = 0 tae) (srl) et) 4G) eHSAL + oe ala + Afi lo ame nov Stn Ganges 17 6H 5 | caiterta wil BYE bz! + N= PRZz we tO NUE Yat thy trawing tae rugonett elo BES” ay he notof enciraementt s By using Anis Techy Ye"Gosle Pee AN gece plot) May" — phage chav_are ree h = _ Fright Mngt , ova are Ay mptotieriows i pe ti re cary). d } egenaaw FO tk ets) = wrio ego VERO arg db wolve 18 solo. mapnttude pit £ magnitude Pik Jay R0Wwde We ave rot tan on Karis fine Maree! noe sot SE que p02 seen other: slorecm) =O abldec paage. Pie yr) = K+ 40 = -k-+Jo = ated for =o" FO" an aes a) antegial 4 centvate fate =F cool eres a 07”) S ce yo zerOS -o Pos eso) = (30) = tot bsl” \eces)] = (vary = wy?” Are db vane 5 a aE anys = tg0N loge = ()) i Mo»“siope = 320%) dvjaec goonioye =o = Mur* afea oder ore := At You want” “jp tran THe eee enagpvitude pore an eyit Place, C) - -rtrwe ave toda sve por for Obot g ren draw a Parate| Gtoe to thal 1 Hi place: itu oor tee finch once Feng cra ar} gS ect ST) : Fis) = Cie fe)?! : a 224 . ot + — = pol reel = (econ + ata ab vane 6 3 Dieg | VWI 20 log Linen )*! + 20 loz Virton> —-0 ; This cdy MP lb& Compare viii Yemy +» Sine x qos oe Asfoptotic _Appeniimations + SARS OI Noy rear pas (OT) p20 104 VT =odb exe (i pip srens 9 Os? 22h. gp 20 (05 GT & 20109 WT) 38 [220leq + 20!9T } Mx AcSpe CM) =F 20 Abfaee, Commer treauert 7 -Ciep) O= tla user) = QT = ms leoy= 1 sade (sey ear et guadaatic, torte & WepreientsHor => cs f 4 eer ys pur sale Line (3° +5 RC () [ s1pe (™) = +40 db ae} Bn sl agus tm) coanesy_Freqvent. ep. = won 288| Bee- bur- pes +16 Bal gu (ety +16) von =e [See B= 16 hig =| ) Ty loguy Tage Tape gate pe WE’ sae reo, $0 ‘PmM= I He — &M =NE-Y stable ee, pete ao} \ ss { 1 iano a6 p Nv T = Perec Gqm= PM=O marginal te ogee weeeye unser’ godepiot for tead 154 CoP a vead-194 021) lag ee nw % = ct HS) UBD) pi = CoO) v;(S) : cre TS) CTE PED ainayy There sho phok+ ig ES. 19 -FAime conttant : aeady =nié fe Time constant fo6™ oni 3 pur s= de. eis) = _xcetlat) CUS) era) (1459p 12) erp Ung i aN aN <* yf Yet My Ty NaMAG : DAG NITUDE THELE 3— geno] Factor | c 7 AY tele joa es | Magni Vey ee | % oo 20109 | 2 caoytn! — W ni | ~f] —20 dbfaec| Ki \+ sop | BR TS ae | a-5b. v | | a4pre | s | * 7 _NOTE: | 1 oy a) 120 | | ee rer S| 1 | a LEAD > He VesVOnT, | a XS, - _ 3 A ERDAS Band PS ( | esha — a | | oak : ° 7 st 8 gf eo ca “ ~ _ aN a t ol TN . he Spa 7 eek | , NYT oe |} ry | i | | ry oe jet | ol ty : " me im ie Mn i eta ae - { | tae Lx = / ee en VarELH, JO com d swe rem phase bad occurs at the -Geemefaic mean of he. FWD comer eve: = -eal(on) — Tas! (aT) rts) = PF ren (0) 2 sane = 7a (Tan (wf) -39 Con)) i chew cw T(Io 9) = watic) Tp Ve Cwny 4 (on) & AL #*l0= wm +t i = by = 1% Singin= C48) Sin = ITT & sindiaget &Sinen © 1-S4G ry xcresinhe) = (-Srda] = asin sine rrsin?m a Mew x r 4 3) | wi vegaed_ to fitening, Promeny fF 28h “Wigh pact ¢ilres!". :3 athe e 7 ) ee pra! lead compensator shifte he qa crect over~ ‘Dp Wapervaiug where. a SU aL ¥ tne dexred Phagemasgin ee ae oie tLe Effective when pe Sopege fia ated tctery pean Ime AIM cract oven Frequery 4 chan! of-_phase_lag compensator :— ) at wgard 42 fillesing Poopenty a ea tow Pass titer 8 we phage lq compensator sift the. Gath cract over Fen +0 Lowes bere -the desired Phare nary én t adeprable* pence Sr ib effective when the slope o- he. uncom) pensared -tyater) nea “HE Jal carsover rey *S Wah 2) athe axlmury phat OF the two Comes; ne * prc) = P= panes) — ran!( wph) ran ( a8! (w) — +a\( 56) wr we O- = whli-p) sand = ee 14 (wt} f qo eceurgé at the GeomelTic moa) ya no ei A ten * arg 3 =O Tanda = we ae fe] i+ Cag AF rae = ae 3 (AcE) hee EV apCP) Sin Ge = 1B Si0bm' P PES —Sinb,y eq j—Sinm 1+Sindyn 4 pe @t®) ais=& / HG)= | % pfs dominant POE ie were We Yer 4 cider t4teny 0 ne une =" concert" A ow Rivas: Ne Te qo-ferthis mati Kt a cbudje anreqatce * <0 100 Aq ae 40 "se very sion v 50 For Cuda fare) WE cary ute paeontoiler f Jag content eince the pratt Woe rel ane lead compensator vo wed to ae readed eck FFAMONE saea NF woth a toy) EDX conginent YH) 3 ( $420) D ie Ce & e PA 2N0S 42000 u+§) aa + 2ostt] Oui ay) y+ z2)o(jw) — 2000 x =Facto, ve magrtticle k soloqio =20dB (Se)2 _ Nfl. 1488, 0 20 db qec ete ay = —4odblaec oe a vier =<" a w=lO0D — et eR woo cebstttule yo=ieoo 3 IML cor) alate... we can Cal Hn Gaapheal wannes, AAO 2 =o TYPO Syshem” Here Stanting ior pe © Syitersy Ky 7 Ka =O rr a an be etree y cbtatin From WAP ° aE ke gor k, = 20 “re en = 10 3 kpe 7 J map we. can find’. dienen dials Ee nikalpe) GEDe 50, Sts+3} (S45) Nove 1 sole? (st) 3: (ito 58) sCito'>9) here e Yor \eadcomPenaio”’ 5Uitse) — without COmPentalor Sarto: saw) ¢ 140° 2f4) for | coe | _ mete } Keg sf | 6 goloqs = Wb sel af Yo = YL 2046 flee | ~~. ® jo ody -y 20 db Hee eye eho } Se 229 s+ Ss posse | Re ah ne 20db|dec wren sae ht | 4) ahs fe eq occur | 5 ve dblaec in wal ge cy tue 14 0259 20 | Wage Sathis Cae jhigher —uodigde oe ys — 201RpOTH “ = ~oVgto"\) 4 aad ote = 0H8 a : — aun —>ed caleulakre, easy pond —uodb. ~updbe 6 Sexconesro 4 , WO at neacted © And ker tov ¥y o : © sine ara a Type + sytem” se ¥pz00, ka= O ing bey Extend ing toe _y THYACan ETO aifpal clopeline © af TL ch the Odb ats of ferticular” us’ * =e 4 correcpounding value FcAled "e aeax Hyp (©) ae w= Pos GM ¢ appliable ee Anltnem eke 0, © Qiu)= scst) cst 40) Sh Cs lest 400) -_ + ( = - 4 bo Gio) sr Conia rt) Go) [1a + Use. eo te5 J Gusto ji US| ce = 0 Los) Lot Ce) seo ant (te Goo ~) - ew - 2) -1g0 + Taso + ran! (9400) ~ 1a"! (Faw) i 4 pau) wid = (of) > (rama): xan! ( 00) 6 x aA Ve aed) [ 15 -Ta8 (#3) a A few = -Ito 4 Tanne + ras! 1 ras) NOW PHASE ANGLE ware ff aver 3 -ee’ + farte[+ Tas! (4) rant | oe ol oe ee — Meee | 4s 08 25° sal 5 [ 466 | a, | cies’ _ ang aD. 18) | xX 16" _ ae | vet tw |-1 sa e gard 2s" 70 |e | ie yes? 28" | |facto! < ee | magtuct =S DK se ne ae riydb 2) Neyo = —Lodb|ae ws) 8 ) \ Ap an db [dec _ypdo(der +4 a0dber system % stable Wye clipe ? since At %& tyfe 2 Lysrem’ kpaty= © y= cuologw tle bye —uologto!) +4 1 Ys_SWe { — po@ Anvespe bode pols NOTE ae D observe the saab of poleg (or) zeus “At oatgin- 2) Foq “the starttg 1040 Anivial gipe =o ae ec * “to Al is THRE O-SySteND * Crests) C153) sol! S Gee Mets He Ip? BT 20l0qle 20109 (9) = —20db soy 20109). = ~20db phioge = 76 Ke eo) KE ot eet sa= oy Cf) = ort )LU4S) HOMES. ) Cit $)C1* $5) Csti0) (+100) golaee = wos) oy 5 ® 20 es) ena) It 20db gi qig= Lets z Cit sa) UTS) QO i at ong S109'9 = 22 SOs Sey) ee = ptitoa5 30 s CBts)ciots) . ao = 5c0( St!) we 6( st ox St19) oh aa ee abe are ‘ay “2 oe ges) —20db + eet y ot 110 a Ss 7 ‘ > logy anita spe =0 at : quo * +59) Lise rtesa) aoloqe ~Ba4 (041) = 7P ’ v = 0lopk= = Cow | ReneyL 420 = 0 Leyes 528) 2. ae ci - ah x Ey f-- Cs (105) ‘ lee 9 db[de’ _odb. = a offer plae— - we | \ cote 10 peade =) wyel0 Wh =) 4 on nFOH octave =) $loPe= = > + 2017) 1072 Dem = PY wye ai a = 7 a e a\m\4e Ne sole \ goxeys i yeu . = ao soleyt Los :2 fom ar Rn siope=~ bdb|ocl” Ya mitt (ov) (ws) = car?) Qo= a earyy) = (V0) i conte oe —20 = 0720 im 1}, Sure 0° | Yad] see am 1 2b +20l0GW0) = 26 for WLieg Wye ya WEE wy ao = ~ Ploy tO 2) Wa = lorad |see =: :G¢sy= get CoH08)_ S* C1408) tay ara Mm + N ciel Nico} charlé =~ veo — “the Nicol chark anges of A chased ciraeé KON A mag ontual@ and Phare conststa Of a at 4 toot & toop sysre) eprese MY crrelee > qe Nicol chart gives Anformattn Freyuency{ Yesponse oo a systors: about clatedl loop > wt the closed oP TE 9 = GS ee vt GCS) lee tS) = x4iy Rs) 1+ HY) ea “the magettude OM] + m= VOsKay™me asa?) = xray tye M MEO \] axe tM =0 L50 nx ei LM) + OY Le an ead: APMEL ant = Ar nepaes enté fay a starqht Ine patting bhyough —y! . ap M+ =) eg vepaecent! a famfld of cfacies. L yey ex M4 MO =o me ml ayy rep 2 Me yp Me aay wet MEL yee xm MY FY me cai) Mel (my) [xcol syste) lee) og = phate angle ee 4 family of yanx yeprerenA — wel te Tan’ 75K cfrcies’ y 4 i — ran % 4x po sie x (1%) i = pre XY x ic ye botnstd@ * 4+ Gx) on onset Adding The Te™ eek EAN Tn + Gay = ae (ay pear a= ty centye = B/ BN sad = ft +O)” F fre veal a%ir jee ag Me Neca’ ea] SPREE bla” gong -Q Ge enero wh ey va ypu Me =0 xr Se el m=! L MT BS wo : a Gel, fern) a& ans: ©) os sine Ir consis ef re phace circles « ost G7 apobeca’l~ Conilta of groquCrVr™ *of =o esd aust 778780 =O =) ge -zy —adi2us we Wd BAP S Bhan in foq eal valugh -K= mule no (AL 6) T OY compen Poles Fr FE reper Complex “6 Chede the Tale g- KG then to tay whether” the complex pole f valid or vob nore: using Angie conditor check the valelthy of- complen s-Al = _ KO Gat ies)(- 242 e5tu) (-2nie 05 + ota] E ~a4 srs +2 —fe) gio Xo) | Peete Be Ass kxJO ifiReee eee aro Tee at faees) (24209) (OF IE ys ll a = -10 (150°) Cs0_] [4] £-®) “Therefore +e compler B-A-P ft valfel BAF - ei fo jhe eatyway 40 check whetber jhe complenGar & vattd or not: we NOTOr BA Rueroi@):- enrersection ef ret locud! a apfo-8-0 s c& 26 K Oo gl PwoOkR © 0 a) k Antercecbon ef ~Acgmplor’ stre fw ane io qancus) = x ayrd oyttR] 4...it complex Polet ave teroyinah"g al 0a, ther) ~pere. WN be Swgle ef clepartune + = 54 p= 180 — 7 bey = 180-63" * igce" : ® c 2.0 = 2°, d= Cg e490 -+ 69) = Ge = ch, = 10+ Pogo ete) = 80. = Ae Now “he Complete aeot tocye of the Gren CE By conattion foa Sability % ;