EE362 Ch3

Dynamic Response
Assoc. Prof. Enver Tatlicioglu

Department of Electrical & Electronics Engineering
Izmir Institute of Technology
Chapter 3
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
EE362 Feedback Control Systems
Chapter 3
1 / 71
BIBO stability
There are many classifications of stability in system analysis.
Figure: Stability, marginal stability and instability
For LTI systems, they all are basically same which is bounded input
bounded output (BIBO) stability.
If input is bounded (i.e., |u (t)| < K1 ), then output is also bounded
(i.e., |y (t)| < K2 ).
Chapter 3
2 / 71
BIBO stability
In the time domain, the output has the form
+
Z
y (t) =
h ( ) u (t ) d.
Bounding the output results in

+
Z

h ( ) u (t ) d
|y (t)| =

+
Z
|h ( ) u (t )| d
+
Z
|h ( )| |u (t )| d.
Chapter 3
3 / 71
BIBO stability
After noting that |u (t)| < K1 , we obtain

+
Z
|h ( )| d.
|y (t)| K1
So if a system is BIBO stable, then

+
Z
|h ( )| d < .
Chapter 3
4 / 71
Dynamic response
We can now model dynamic systems with differential equations.

Q. What do these equations mean?
Q. How does this system respond to certain inputs?
Q. If we add dynamics (i.e., a controller), how will the system respond?
Q. How should the system respond (i.e., design specifications)?
A. Essential tool is Laplace transform.
Chapter 3
5 / 71
Some important input signals

Several signals recur throughout this course.
The unit step function:
1 (t) =
1, t 0
0, otherwise
Chapter 3
6 / 71
The unit ramp function:

r (t) =
t, t 0
0, otherwise
Chapter 3
7 / 71
The unit parabola function:

p (t) =
t2
2,
0,
t0
otherwise
Chapter 3
8 / 71
The cosine/sine functions:
Chapter 3
9 / 71

The impulse function:
The impulse function is a very strange generalized function, only

defined under an integral
Z
(t) = 0 for t 6= 0 and
(t) dt = 1.
{z
}
|
zero duration
|
{z
}
unit area
It satisfies the useful sifting property
u ( ) (t ) d = u (t).
Chapter 3
10 / 71
Response of linear timeinvariant systems

Let y (t) be the output of an LTI system with input u (t)
y (t) = T [u (t)]

Z
= T
u ( ) (t ) d
u ( ) T [ (t )] d.
Let
h (t, ) = T [ (t )]
then
y (t) =
u ( ) h (t, ) d.
Chapter 3
11 / 71
Response of linear timeinvariant systems

Note that, for timeinvariant systems
h (t, ) = h (t )
then
y (t) =
u ( ) h (t ) d
= u (t) h (t) .
The output of an LTI system is equal to the convolution of its
impulse response with the input.
This makes life easy.
Chapter 3
12 / 71
Finding an impulse response

Example
Consider a first order system

y (t) + ky (t) = u (t)
with y (0 ) = 0 and u (t) = (t) where k is a positive constant.
So for positive time y (t) + ky (t) = 0.
Recall from previous courses that y (t) = A exp (st) with A and s
being constants.
We need to solve for A and s.
Time derivative of y (t) = A exp (st) is found as
y (t) = As exp (st) .
Substituting the above expression results in
As exp (st) + kA exp (st) = 0 s + k = 0 s = k.
Chapter 3
13 / 71

Example
We have solved for s, now we will solve for A

Z0+
0
y (t) dt + k
{z
+
y (t)|00
Z0+
0
y (t) dt =
{z
0
Z0+
(t) dt

A exp k0+ 0 + 0 = 1
{z
1
A = 1.
So the response of the system to impulse is

h (t) = exp (kt) , t > 0
= exp (kt) 1 (t) .
Chapter 3
14 / 71

Example
Response of this system to general input:

y (t) =
Z
0
u ( ) h (t ) d
u (t ) h ( ) d
u (t ) exp (k ) 1 ( ) d
u (t ) exp (k ) d.
Chapter 3
15 / 71
Transfer function
Response to impulse is called the impulse response

h (t) .
Response to general input u (t) is found by the below convolution
u (t) h (t) .
Response to sinusoid or cosinusoid
A cos (t) =
A
(exp (jt) + exp (jt))
2
reduces to response to exponential.
Chapter 3
16 / 71
Transfer function
Let u (t) = exp (st) with s being complex. The response of the
system is found as
Z
y (t) =
u (t ) h ( ) d
=
exp (s (t )) h ( ) d
exp (st) exp (s ) h ( ) d
= exp (st)
exp (s ) h ( ) d
= exp (st) H (s) .

Chapter 3
17 / 71
Transfer function
An input of the form exp (st) decouples the convolution into two
independent parts:
a part depending on exp (st),
a part depending on h (t).
Recall that, a signal for which the system output is a (possibly
complex) constant times the input is referred to as an eigenfunction
of the system, and the amplitude factor is referred to as the systems
eigenvalue.
Complex exponentials are eigenfunctions of all LTI systems.
Notice that H (s) (which is a constant for a specific value of s) is the
eigenvalue associated with the eigenfunction exp (st).
Chapter 3
18 / 71
Transfer function
Example
Consider the following system model

y (t) + ky (t) = u (t)
with u (t) = exp (st).
We know that
y (t) = H (s) exp (st) y (t) = sH (s) exp (st) .
Substituting the above expression into the system model, results in
sH (s) exp (st) + kH (s) exp (st) = exp (st)
sH (s) + kH (s) = 1
H (s) =
y (t) =
1
s +k
exp (st)
.
s +k
Chapter 3
19 / 71
Response to cosinusoid
For s = j,
u (t) = exp (jt) y (t) = H (j) exp (jt) .
For s = j,
u (t) = exp (jt) y (t) = H (j) exp (jt) .
Thus, for u (t) = A cos (t) =
y (t) =
A
2
(exp (jt) + exp (jt)),
A
[H (j) exp (jt) + H (j) exp (jt)] .
2
Chapter 3
20 / 71
Response to cosinusoid
Consider a real h (t) with
H (j) = L exp (j)
so we know that
H (j) = L exp (j) .
Substitute these into y (t) to obtain
y (t) =
=
A
[L exp (j) exp (jt) + L exp (j) exp (jt)]
2
AL
[exp (j (t + )) + exp (j (t + ))] .
2
The response of an LTI system to a sinusoid is a sinusoid (of the

same frequency).
Chapter 3
21 / 71
Frequency response of a first order system

For
1
1
H (s) |s=j = H (j) =
.
s +k
j + k
Magnitude of H (j)
H (s) =
M = |H (j)| =
1
.
+ k2
Phase angle of H (j)

= H (j) = tan1

k
The output can be written as

y (t) =

A
cos t tan1
.
k
2 + k 2
Can we use these results to simplify convolution and get an easier way
to understand dynamic response?
Chapter 3
22 / 71
Laplace L transform
We have seen that if a system has an impulse response h (t), we can
compute its transfer function H (s)
H (s) =
h (t) exp (st) dt.
Since we deal with causal systems (possibly with an impulse at

t = 0), we can integrate from 0 instead of negative infinity
H (s) =
h (t) exp (st) dt.
This is called the onesided (unilateral) Laplace transform of h (t).

Chapter 3
23 / 71
Laplace L transform
Name
Unit impulse
Unit step
Unit ramp
nth order ramp
Sine
Cosine
Time function f (t)

(t)
1 (t)
t1 (t)
t n 1 (t)
sin (bt) 1 (t)
cos (bt) 1 (t)
Damped sine
exp (at) sin (bt) 1 (t)
Damped cosine
exp (at) cos (bt) 1 (t)
Diverging sine
t sin (bt) 1 (t)
Diverging cosine
t cos (bt) 1 (t)
Laplace transform F (s)

1
1/s
1/s 2
n!/s n+1
b/ s 2 + b 2
2
2
s/ s + b

b/ (s + a)2 + b 2

(s + a) / (s + a)2 + b 2

2
2bs/ s 2 + b 2

2
s 2 b2 / s 2 + b2
Chapter 3
24 / 71
Properties of Laplace transform
Superposition
L {af1 (t) + bf2 (t)} = aF1 (s) + bF2 (s) .
Time delay
L {f (t )} = exp (s ) F (s) .
Time scaling
L {f (at)} =
1 s
F
.
|a|
a
Time scaling property is useful if original equations are expressed

poorly in time scale.
For example, measuring diskdrive seek speed in hours.
Chapter 3
25 / 71

Differentiation
n
o

L f (t)
= sF (s) f 0
n
o

L f (t)
= s 2 F (s) sf 0 f 0
..
n
o .

L f (m) (t)
= s m F (s) s m1 f 0 ... f (m1) 0 .
Integration
L
t
Z
f ( ) d
1
F (s) .
s
Chapter 3
26 / 71

Convolution
Y (s) = L {y (t)}
= L {h (t) u (t)}
t
= L
h ( ) u (t ) d
=0
Zt
t=0 =0
Z Z
h ( ) u (t ) d exp (st) dt
h ( ) u (t ) exp (st) dtd.
=0 t=
Chapter 3
27 / 71

Multiply the righthand side of the above expression with
exp (s ) exp (s ) to obtain
Y (s) =
h ( ) exp (s )
=0
u (t ) exp (s (t )) dtd.
t=
Let t = t
Y (s) =
h ( ) exp (s ) d
Z
t =0
=0

u t exp st dt
= H (s) U (s) .
Laplace transform unwraps convolution for general input signals.
This makes systems easy to analyze.
Chapter 3
28 / 71
Inverse Laplace transform

Inverse Laplace transform converts F (s) to f (t).
Once we get an intuitive feel for F (s), we wont need to do this often.
The main tool for inverse Laplace transform is partial fraction
expansion.
For most physical systems
F (s) =
b0 s m + b1 s m1 + ... + bm
s n + a1 s n1 + ... + an
with n m.
If we write F (s) in the poles/zeros form
F (s) = k
m
Q
i =1
n
Q
i =1
(s zi )
(s pi )
Chapter 3
29 / 71

If pi are distinct
c1
c2
cn
+
+ ... +
s p1 s p2
s pn
c2 (s p1 )
cn (s p1 )
(s p1 ) F (s) = c1 +
+ ... +
.
s p2
s pn
F (s) =
Let s = p1 then c1 = [(s p1 ) F (s)] |s=p1 .

Similarly s = pi then ci = [(s pi ) F (s)] |s=pi .
Since, we know that
L {exp (kt) 1 (t)} =
then
f (t) =
n
X
1
s k
ci exp (pi t) 1 (t) .
i =1
Chapter 3
30 / 71

Example
Find the inverse Laplace transform of

F (s) =
s2
5
.
+ 3s + 2
Using partial fraction expansion

5
|s=1 = 5
(s + 2)
5
=
|s=2 = 5.
(s + 1)
c1 = [(s + 1) F (s)] |s=1 =

c2 = [(s + 2) F (s)] |s=2
Then, f (t) is found as
f (t) = [5 exp (t) 5 exp (2t)] 1 (t) .

Chapter 3
31 / 71

Repeated Roots
If F (s) has repeated roots, we must modify the procedure.

For example, consider below F (s) which includes a third order pole
F (s) =
=
k
3
(s p1 ) (s p2 )
c1,1
c1,2
c1,3
c2
+
+
+
+ .
2
3
s p1 (s p1 )
s p2
(s p1 )
The modified formula to compute the constants is

h
i
c1,3 = (s p1 )3 F (s) |s=p1

d
3
c1,2 =
(s p1 ) F (s) |s=p1
ds
2

d
3
c1,1 =
(s p1 ) F (s) |s=p1
ds 2
c2 = [(s p2 ) F (s)] |s=p2 .
Chapter 3
32 / 71

Example
Find the inverse Laplace transform of

F (s) =
Let
s +3
(s + 1) (s + 2)2
c1,1
c1,2
c2
+
+
.
s + 2 (s + 2)2 (s + 1)
fraction expansion

h
i
s +3
2
(s + 2) F (s) |s=2 =
|s=2 = 1
s +1

d
d s +3
2
(s + 2) F (s) |s=2 =
|s=2
ds
ds s + 1

1
s +3
|s=2 = 1 1 = 2.
s + 1 (s + 1)2
F (s) =
Using partial
c1,2 =
c1,1 =
=
Chapter 3
33 / 71

Example
Using partial fraction expansion

c2 = [(s + 1) F (s)] |s=1 =
s +3
(s + 2)2
|s=1 = 2.
Then, f (t) is found as

f (t) = [2 exp (t) 2 exp (2t) t exp (2t)] 1 (t) .
Chapter 3
34 / 71
Using Laplace transform to solve problems

Example
We can use Laplace transform to solve both homogeneous and forced

differential equations.
Solve for y (t)
y (t) + y (t) = 0
with y (0 ) = , y (0 ) = .
Using Laplace transform yields
s 2 Y (s) s + Y (s) = 0.
Thus, Y (s) is found as
Y (s) =
s +
s
1
= 2
+ 2
.
s2 + 1
s +1
s +1
From tables,
y (t) = [ cos (t) + sin (t)] 1 (t) .
Chapter 3
35 / 71
Using Laplace transform to solve problems

Example
Solve for y (t)

y (t) + 5y (t) + 4y (t) = u (t)
with u (t) = 2 exp (2t) 1 (t) and y (0 ) = 0, y (0 ) = 0.
Using Laplace transform results in
2
s 2 Y (s) + 5sY (s) + 4Y (s) =
.
s +2
Thus, Y (s) is found as
2
2
Y (s) =
=
2
(s + 2) (s + 5s + 4)
(s + 2) (s + 1) (s + 4)
1
2/3
1/3
=
+
+
.
s +2 s +1 s +4
From tables,

2
1
y (t) = exp (2t) + exp (t) + exp (4t) 1 (t) .
3
3
Chapter 3
36 / 71
Time response vs. pole locations

Once the transfer function is determined, we can start to analyze the
response of the system it represents.
When the system equations are ordinary differential equations, the
transfer function will be a ratio of polynomials
H (s) =
b (s)
a (s)
where we assume that a (s) and b (s) have no common factors.

The values of s such that a (s) = 0 represents points where H (s) is
infinity and these s values are called poles of H (s).
The values of s such that b (s) = 0 are points where H (s) = 0 and
these s values are called zeros of H (s).
Chapter 3
37 / 71
Time response vs. pole locations
Impulse response is the time function corresponding to the transfer

function.
The impulse response is also called the natural response of the system.
Poles and zeros are used to compute corresponding time response of
the system.
Poles qualitatively determine the behavior of the system.
Poles identify the classes of signals contained in the impulse response.
Zeros quantify this relationship.
Chapter 3
38 / 71
First order pole
Consider a first order pole

H (s) =
1
.
s +
From the tables, h (t) can be found as

h (t) = exp (t) 1 (t) .
If > 0, pole is at s < 0, stable (i.e., impulse response decays, and
any bounded input produces bounded output).
If < 0, pole is at s > 0, unstable.
Chapter 3
39 / 71
First order pole
Figure: Impulse response of a stable first order pole
Chapter 3
40 / 71
First order pole
Figure: Unit step response of a stable first order pole
Chapter 3
41 / 71
Second order systems without any zeros

Standard form of a second order system without any zeros
H (s) =
s2
K n2
b0
= 2
+ a1 s + a2
s + 2n s + n2
where is the damping ratio, n is the natural/undamped frequency.

From the tables, h (t) can be found as
n
h (t) = p
exp (t) sin (d t) 1 (t)
1 2
p
where = n and d = n 1 2 is the damped frequency.
Chapter 3
42 / 71
Figure: Damping ratios vs. pole locations
Chapter 3
43 / 71
Figure: Envelope of sinusoid decays as exp (t)
Chapter 3
44 / 71
Figure: Impulse responses of second order systems
Chapter 3
45 / 71
Figure: Step responses of second order systems
Chapter 3
46 / 71
Low damping, 0, oscillatory.
High damping, 1, no oscillations.

0 < < 1 underdamped.
= 1 critically damped.
> 1 overdamped.
Chapter 3
47 / 71
Figure: Impulse responses vs. pole locations
Chapter 3
48 / 71
Figure: Step responses vs. pole locations
Chapter 3
49 / 71
Time domain specifications
We have seen impulse and step responses for first and second order
systems.
Our control problem may be to specify exactly what the response
should be.
Usually expressed in terms of the step response.
Chapter 3
50 / 71
Time domain specifications

tr is the rise time and is equal to the time to reach vicinity of set
point.
ts is the settling time and is the time for transients to decay (to 5%,
1%).
Mp is the percent overshoot.
tp is the time to peak.
Chapter 3
51 / 71
Rise time
All step responses rise in roughly the same amount of time.

Take = 0.5 to be average.
Time from 0.1 to 0.9 is approximately equal to
tr
1.8
.
n
We could make this more accurate, but note that this is only valid for
second order systems with no zeros.
Use this as approximate design rule of thumb and iterate design
until specifications are met.
Chapter 3
52 / 71
Peak time
Step response can be found from ILT of H (s) /s as

y (t) = 1 exp (t) cos (d t) +

sin (d t)
d
p
where = n and d = n 1 2 .
Peak occurs when y (t) = 0

y (t) = exp (t) cos (d t) +

sin (d t)
d
exp (t) (d sin (d t) + cos (d t))
2

+ d2
= exp (t)
sin (d t) = 0.
d
So,
d tp = tp =
= p
.
d
n 1 2
Chapter 3
53 / 71
Percent overshoot vs. damping ratio

Percent overshoot is

p
Mp = 100 exp / 1 2
where common values are Mp = 16% for = 0.5 or Mp = 5% for

= 0.7.
Chapter 3
54 / 71
Settling time
Determined mostly by decaying exponential
exp (n ts ) =
with = 0.01, 0.02, or 0.05.
For = 0.01, we obtain
exp (n ts ) = 0.01 n ts = 4.6 ts =
4.6
4.6
=
.
n

exp (n ts ) = 0.02 n ts = 3.9 ts =
3.9
3.9
=
.
n

exp (n ts ) = 0.05 n ts = 3.6 ts =
3.6
3.6
=
.
n
Chapter 3
55 / 71
Design synthesis
Specifications on tr , ts , Mp determine pole locations.
n 1.8/tr .
function (Mp ) (read from Mp versus graph).

4.6/ts (for = 0.01).
Figure:
Chapter 3
56 / 71
Converting specifications to splane

Example
Specifications are: tr 0.6, Mp 10%, ts 3 sec at 1%.

n 1.8/tr = 1.8/0.6 = 3.0 rad/sec.
From Mp versus graph, 0.6.
4.6/ts = 4.6/3 1.5 sec for = 0.01.
Chapter 3
57 / 71
Converting specifications to splane

Designing a motor compensator
Suppose a servo motor system for a pen plotter has transfer function
0.5Ka
n2
=
.
s 2 + 2s + 0.5Ka
s 2 + 2n s + n2
where there is only one adjustable parameter which is Ka .
So, we can choose only one specification (i.e., either of tr , ts or Mp ).
Let the design requirement be to allow no overshoot.
Thus, Mp = 0 results in = 1.
From the denominator of the transfer function, 2 = 2n , thus
n = 1.
Thus 0.5Ka = 1 resulting in Ka = 2.
Note that, for = 0.01, we obtain ts = 4.6 sec.
We will need a better controller than this for a pen plotter!
Chapter 3
58 / 71
Higher order systems
We have looked at first order and second order systems without zeros,
and with unity gain.
Nonunity gain:
If we multiply by K , the dc gain becomes K .
Note that, tr , ts , Mp , tp are not affected.
Chapter 3
59 / 71
Adding a zero to a second order system:

Consider the following transfer functions
H1 (s) =
H2 (s) =
2
2
2
=
(s + 1) (s + 2)
s +1 s +2
2 (s + 1.1)
0.18
1.64
=
+
.
1.1 (s + 1) (s + 2)
s +1 s +2
Same dc gain (at s = 0).

Coefficient of (s + 1) pole is greatly reduced.
General conclusion:
A zero near a pole tends to cancel the effect of that pole.
Chapter 3
60 / 71
How about transient response?

H (s) =
s
n
s
n
2
+1
2s
n
+1
Zero at .
Poles at R (s) = .
Large , zero far from poles no effect.

1, large effect.
Overshoot goes up as 0.
Chapter 3
61 / 71
Figure: Step responses for a second order system with a zero
Chapter 3
62 / 71
Figure: Overshoot versus normalized zero location for a second order system with
a zero
Chapter 3
63 / 71

Set n = 1
H (s) =
+1
s2
+ 2s + 1
1
1
s
= 2
+
2
s + 2s + 1 s + 2s + 1
= Ho (s) + Hd (s) .
where Ho (s) is the original response (i.e., without the zero) and
Hd (s) is the added term due to the zero.
Notice that
1
Hd (s) =
sHo (s) .
The time response of Hd (s) is a scaled version of the derivative of

the time response of Ho (s).
If any of the zeros are in RHP, the system is called nonminimum
phase.
Chapter 3
64 / 71
Figure: Step response for a second order minimum phase system
Chapter 3
65 / 71
Figure: Step response for a second order nonminimum phase system
Chapter 3
66 / 71
Adding a pole to a second order system
Consider the transfer function

H (s) =
s
n
1
2
s
+1
+
n
2
n s
.
+1
Original poles are at R (s) = = n .

New pole is at s = n .
Major effect is an increase in rise time.
Chapter 3
67 / 71
Figure: Step response for a pole added second order system (i.e., a third order
system)
Chapter 3
68 / 71
Figure: Normalized rise time vs. normalized pole location
Chapter 3
69 / 71
Summary of higher order approximations

Extra zero in LHP will increase overshoot if the zero is within a factor
of 4 from the real part of complex poles.
Extra zero in RHP depresses overshoot, and may cause step response
to start in wrong direction.
Extra pole in LHP increases rise time if extra pole is within a factor of
4 from the real part of complex poles.
Figure:
Chapter 3
70 / 71
Summary of higher order approximations

Matlab step and impulse commands can plot higher order system
responses.
Since a model is an approximation of a true system, it may be all
right to reduce the order of the system to a first or second order
system (if higher order poles and zeros are a factor of 5 or 10 times
farther from the imaginary axis).
Analysis and design are much easier.
Numerical accuracy of simulations are better for lower order models.
First and second order models provide us with great intuition into
how the system works.
May be just as accurate as higher order model, since higher order
model itself may be inaccurate.
Chapter 3
71 / 71

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Dynamic Response

Assoc. Prof. Enver Tatlicioglu

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Figure: Stability, marginal stability and instability

EE362 Feedback Control Systems

Bounding the output results in

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

After noting that |u (t)| < K1 , we obtain

So if a system is BIBO stable, then

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

We can now model dynamic systems with differential equations.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Some important input signals

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Some important input signals

The unit ramp function:

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Some important input signals

The unit parabola function:

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Some important input signals

The cosine/sine functions:

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Some important input signals

The impulse function is a very strange generalized function, only

It satisfies the useful sifting property

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Response of linear timeinvariant systems

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Response of linear timeinvariant systems

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Finding an impulse response

Consider a first order system

EE362 Feedback Control Systems

Finding an impulse response

We have solved for s, now we will solve for A

So the response of the system to impulse is

EE362 Feedback Control Systems

Finding an impulse response

Response of this system to general input:

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Response to impulse is called the impulse response

reduces to response to exponential.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

= exp (st) H (s) .

EE362 Feedback Control Systems

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Consider the following system model

EE362 Feedback Control Systems