M|nf

4soo

f."Jbodr contol

Equev.q Resporu nsfeJ -pl

l

N.1q,rr's f

sto l;1,'{.,, Cn'I+nirlr-r..

. 7s o'"J lo **^::
n freluarg olo:nah

, fr/lo,ntsdelorning tl^t nunbqr 4

6f tt" .lrte!r"t.

.f

tLr st"b;li\
I

"1o1al-tooy sTsternr

p"la in fl,*

slJttn ftn-

r'6ht-hf

tAq "!-l"t?_

lJnnlgez -rxpa'innb/16 .bloiw./ {rq. rapon*

- /o racqd {o {ns-r ttc leafrba of 4A

Jn 5ho.t termt 3

y.

etav*

Fcsponsq-

eon bq usal.
poles.

h,'"^V
o" 7,a4if
=r6,t

6t1,t)l4Qa1
koowig)
t*'+q5-*ffi,

L-{ilJ

rlcts
uact'oblL Poles (o7r

prrt).
u F kQH=oa;lh prr,t,'^er'crl

,fte fr//0,,'41 rfuoreln f's 7'- 7o.-tolJ. {o/-layTtg Throrw,,

I"

,f

if

Ffs) r's a

S zeros rntide a elot"ol

a clatJ
P = # polu n';de
/:

TAe'

'tlt .tosd

r^t,o of

+ts rt"st 'f & ru[ert'

'f,t"

71"4'oni"lJ

in s,

o^"1
conlatr )n tlbnlcoa'loat in s-7hl.a ' 'A"on

anlour af Fts) enclr.leJ

+_:W-I*-Z-P

clockvb,

timel

-th! aarvlour p 3- Tbac ts a /"rays se/ec/t/ z:/acktuse '

Nofes
e rwos <a.r-!o clodLoig. enq'rcltw\e'rts'
counlor-clock-tt,b,
\".ir;t*)"i-'
eon'tourt /Ae cloSzJ couo.r ol
L. ff no zefo ot' PoLe ,t ,.n S-fhnL
, "

F(s) doe-trnt

en<lrck /At- orrh.

lrr\

T
f

)- .
at\,))t-

/ ' -- .
t . -

f1n,r'i;,

6ir;fl{t)=
,

t .

I t
, - l

Figure8-47
Closedcontoursin the s
planeand their
closedcurves
corresponding
in the F(s) plane.rvhete
F ( . r ) : ( s + 1 ) / ( s- 1 ) .

in s.Let P be the nunr

MappingTheorem. Let -F(s)be a ratioof two polynomials
ber of polesandZ be thenumberof zerosof ,/?(s)that lie insidesomeclosedcontourin
for. Let the contourbe such
the s plane,with multiplicityof polesandzerosaccounted
that it doesnot passthroughany polesor zerosof F(s).This closedcontourin the s plane
is thcn mappedinto the F(.s)planeasa closedcuNe.The total numberN of clockwise
encirclements
of the originof the F(s) plane,asa rcprcsentati!!loint { traccsout thc
entirecontourin the clockwisedircction,is equalto Z - P. (Note thatby thismapping
theorem,lhenumbersof zerosand of polescannotbe found-only their diflerence.)
544

chapter 8

Frequency-ResponseAnalysis

Ap/tkail6> to -rtqL,tlU days/r

conttuf rh S-ylane '"c1, +t^o* all

N"e/ lb )"f;nt- a pfe"

fn1,^enu'at

a.re avstzd as shoon ;

Nak. ^:,1 unst"bbpbt

o/=*ot .f /+Gr9Ha)
-fhis se.,nicivle

w,ll be iuide

7h;s

Po4

Fort

*hroylh

v.fe1
Z'/'lh tAt

ts

tu fS sho^ldnot
o f /+ Q0 tlts)'
uf +b pot"sor z-e"aS

ca//d l*"Nyqwif pafi,

^i)

alr*rzrF+tbtl 'il"qt

lin

L /+ ,rtstH(stJ=anrtonf

r'

S')rqle

?e:"t

s --> N
On464

1'tolc l:

.>-4

""lA
tt

has to coqtiler t6-r p'rt "( +trL 1V1l"is'l-p.*h l"cole-ol

tnyriut6 <xis
Jr /+ 4t14Htj")
for enur.lzme/rrfst

TL'

ptant

A^, 1dht.

/+ 61i,.riltj"r) is o!

fl.,uLfa4.

bA" 4" to
s{if+e,o{

onz c4h onl& ficus

on

enjrdwnzafs

o/ +1" ofen-loo7Tf, ettjal Htl,a), b** rhslial cons''dtrg^o

sa,ab<r.sf enct.r(eryn&uf po,if-J insl<aa(-f orr5in'I+ 4H faw

Q fl gtaM
5 am( aJ

P.

l+ qrr)H(jNl

encirrlunul

N ofr t"rn"3
qrr.oJrd O aS

o AJona6.

f^p"r*.n| rnlus

kqd - + of (,u!.ewir6,
c,w. nctft. "f ov;6,ibff
ol'-1*oi"

fiof

nr.n

^t^P

N
.

,f

7hL Pt'"n

tl-

*f

,.*'

Heret qtu-fibn

hlt

ta/rror

lldt' l(a slstem

t\

lLL ct bonq Ji ,.u!s;on'

r)s<

6iw

)-17e j"r
;t

"^t do {^r

6e1r; flClij
palr.o'"i.lt

L,heay., or,16frcfitnal
"f

S'

fo

s+"b,1,4 Cnleoion

il1yisl

-a1t'J1o

\'*ncio't

o<d<+e -

+lt p<rt fir

posihw s,'dt and ^/J

t

hVa'li'P

fir

-f

is /A/ n/r/ar i,lye

'.-

l("" uV"

d o e s n"t. l,raul3g
o.x! -I
on
zgrol
J@
+

qH

poler sr

+r-r.- oy-Loo7 rransfe. {uncll"n QHU)

has k p"les in +la rl1ht-hatf s p{ane,and
ff

!,t^ 60t/0=Con!{aat t 7kn f"

shb'iil6

of C.L. s1rtern..

5->@

rM

a j,i

encl'r-.le

H{1d

louJ, as

lLo pont

-'(

to vanet{rovtr
l< t;mt't

in lL,l

to &,

direcion .

C.C"W

R.rrtor( s
.,'

1. TAe.ertlenbn

c4n b

e,<prBsted q.J

'

+ zeror ot

st"b;lifl,

= N+ F
{

.y "f

/+ail n R.11.1.

x f p* o ,
lor

7 shorlJ le

?erx,

6t/

N=-l

mnst

' ''z Polet al

a- U

"i;"

R . HP.
^

c . W. e h L l r 'o J

dtl t)o)

-1 ba

T' /'

P-o

N = o'

Z=N

,-%+.r

4e- p lof is

Uso-.'llq
q

._L

a N1 1 t ^ t t'

b< enc/o

n 6t

shool/

I t u rl!.)sh"."tJ no+

fo.

6)o

7lo*

4
e-vcirz [,L - t o r

- nt .

]Latf"-e

'
5f\

flo*

plan,('

cfl

Euampla:

3
Qe

UnSt^bLt
//o,,, aA

ca..vt feJult

2.

ff

il!

in

polas
uhich

specia/ casa :
ThL

urtJhbi/''t\

polan ptot' f

Th!4L ar{7s/ern,

bbsrrrl,lL -+La;+ i cnazta4

'! o^

apalpar sho*(d

Qn
ts

ar,

6 t1^)HtY)

1t'^ mag irtur(

261

+lA loop
Vnin

-thvog}t

-1

PqlsJ

axis f-a- {4{

<(t,sarl-to"y

JeLimbb.

q(tlH(t)

h o r poleJ

b. moJrfie4.'^.i^0

en

+he jo 4xis.

semieircbs a.-'.nl'*hosr- $eS

g("t'a

n^oft* 'Jfl
S
PolLs a"^A Zera
.,:fl pJ;/t,/4 &eA-?,

^+

'to

iln,

part

52

e(

(
lu,

aro

tn t(u ded' '

r+rt- S-can*o,rr

WLLI

tl.'a- eH_ con/ou"

Jor*
Euamp&t

is

clo ta-

fu J-*""it

Polu or

broS,

Joao,

G(i)H6) = - K

s'' (.rs+,)

tlrA

-&^qH$l
s-_+ de

t'

=- ,'-

= )-P

,E8. E

-a/

. .-P

tv
b

ee'

-1r<O<1o

nha* yo*

nor^ril7 ne is
fo, o<ra{+ e

# r f p l e t o 9 6 q i n R . Hp _ _ o = f
t

enci,chftwh

'*

Z=o

= /26

,+

Alcbv

S7l*n,

)O

t{d=a 6fl+ -*
sz4^6-7qX-4

polar

Ex"'n plY L

QG)tl(st =

- s r ( . r s r r)

$ - c.ntou"

9= ?

&'^un-'

-qoL D <nD
crilexia '-

'*z P-o

c.W
t--

no y"Vs 'r*, i:V'l- R'il'P

N= 2

-2 Jo

!'aO:}

'tNl.lo zeros

" (

l+ (\tl

in +te R'd' P -v

t
cr\t,oo1

s7:+en i5
uns*"bb.'

tlow is 'tl^a'lpsf;f';eA {**'

,anclution ''

for

uhtn

@ 1 + t oj t l

thttlt
otit,

charve- exaft

Rob+ locut

4rQ
/1,!

zeYot "f qil

7ole,sandf or
N41,,,istCr,*oion d,oa not

f'r +t-tno&'f2)

P"&'

f ,oEWnS

'Thpnz is

X.

If

>

t(

2,

no e'ct'rJu,ne* ' of

-l
6 ru :-";
Poi"*
qfsltlts\ h"l !g_R\\? polc-s (P=o) :.> 's*ofi.r" ainpq!=
u^sf'rb\A srl'ee$r
6{{} H{J) hac &lP gola (pa") :)
encirc/J " + -7

Tht^-e- uYv- C. c-W

R.1.1) poles of qH

if

ore tl-q

or

{o

n*unbg'r =;" P1N=o{

$ crr'4

Z=

or r+4Lta

, o//aawisa ur?JlaLlz 3-

Th-rt\!

--+.

arq

C"W

Tr'r< s qslz.tn
I

<rLt'"/s
is

"f

LLntlaLlL ,

-1

ov

N)o
_------"----

Z = PtN )o

beauJr

alw".ys

ho naW
z,/hat P il

Exanyltga4 qx,-J----(r,s+r)(r.s+r)
, t

D - a

r''.

e1fl

t]So Na*fab

r{

-^.F

/- = P+ y'/ = ot o.:

fxanpb

8-lg

ttevtr

0--D ':

.Mey-ine

5 (T's+\)(res+t)
r;_- Q

F=o

shb,l;h
,

h,r

P --o
d*z

,lnY/ N'z'o
trl:.o*> Jfrlk

=,) t=L
+

icL

ilk

:'> N:O

-+ ol--.1s s+"bt-A

QH(il.

n (!'fr/e<

a, --o

un rlod

Exaaph. g-rT

qH -- 2 . .

P-l

s (Ts -l)

+
a! --o

N=l

-> t=-P+N=A
+

ti.-i7lz

s- 18

6(r) H{t)-

Ne-'\

,^rst-obLt

k(s+3)

R>o

s(s -r)

N =- \

s+q.b\e-.

t,=-l+\-cl

{vete l
unl*abb opun'loopsit-ietn ressLk'd i"
a S|qbb c'to-cd-U"( s'4*e''vn'
v

O.

Fi"d on* if
(u*

;+ is p"ss;Llt

H.tlqt)

I
1-lr

nakp- *L+ qbovo

ut tt J +q b(4.