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LCS Notes-1

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LCS Notes-1

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Date: Distuybance. Rejection + —+How much able ic the ofctom te YOject he dicturbances entering ‘ J ithe gctew Puace~2. Time Response OF {stem i>» pivicdled tute two parts ih Tyancient — pies cuit with tine — cto 2) Steady —ctate~ deecit die — behaves as t abpreaches_iwfintty the. vi: eney After the awed velponte hal decated soe onl the comtin uous tespence- be Trangent Reshonce ‘ From initial tefinal bein putfose ct conttapet Sachem is pried } the device a_destred resbonte —+ Tet input for trans tev Fesbowte will be a shep- iuput Eales = Seb tapat = ctable desired imput pit has a conctant magritude. — ule consider wd order sqctera ov Simplicity Mp ~> maximum over chost — Aeviation trem what Yeu texivay —CaNeaq tr px en ra) bps CO =Ct) feet et) Sil dni itude is 06 but My ues aygatero * r i 6 Magnitude 7 one A eT ‘2 ON eee M, + stable responce. \ T \ \ | Hebbhtedaanlles Cheidaslalselk pela der Page (_] Vietory 7 Scanned with CamScanner Date: t2"Marehy2023 ctw final — tov deted output (required tecbonte) 4p time at whieh mar: over Shost occu toe ow ay Ad ~ Delod time time te _veach the So-/- of the Ct) Hnaf at wd str — Rise time Wy tat = oatoume. ta Settling Une, tee b> > t= Bon = Reshowse ot If evdey cyctem ic very slow and it wort have any peak while “the higher order gystoone will be unctable thats wht 2" order cyst ig chosen - & C—> vesbence of the 2 Ctctem itrelt — vise time ic the. “Hme: Yequivect by the System +o Yeach 545 oy PET the veut = settling time — cy ctom cetttles system becomes stable. oscillation die out when syctem enters in_etate Space yecbonce. Fh is he Lime tequiredl by the. Tetbouce “te teach a_eteoely ttle _wittbin shecifted Baste Time Doman Carreriac _ rJed 2h Sf of vs Peal value Sigs + Open Loop holes will ever move with Gam change while clesea focb poles will move with Gain change. seatib s-dtjbe-Zuntib palee gn x Gout A— Aamsbivg coefficrent and “this ae i ives the vate of vice of clecag of octtalionc jfpryfeicall oh ts ‘he Yeat ¥% part_of pole. = Two parks st resbonce fer Exbonental Decay < Envelope) + Souter ae £ ts _yeebontible for Exbouerctial deo} while imaginary | bart is v Seshowsible for __gmusoiclal responce - Page Ueetorg Scanned with CamScanner Date:. lL, ae. ofrecictance t chang measute, of the def t apt 9 & Ain he_efsiet eulbet erat ott ~ '2ela- G=tocO * ial paepind =) Dewalping rolto ; ; 7 —+ O ic the angie that dominant loop pole is makin) with stifin. <+ Lets zeta, Yreater_overthost f — + Al pele at this angle will have Some maximum ovetchoot - T Vv 7h : pou. | i Waofinatl Te, = N _= Fou Types of Dambind» sy Teal ipa ot) Over dame - TB. Te st L121 under dawbed & Gritreally dambed 7] Undawbed - =Tuie things d2t 2 Solem must be tnown te determine damping Les Yesonse. and pole. location - Quer dawbedmDambing ic te0_clow. €4- slow closing at door- _ + no overshoot = L ( _ = + Condition for poles veal and _dictivet 1 Pele location Yeah — ow the veal axic Oo s distinct! — ot cliffovert dictance. |; —__ zeta is greater cthan 1 Ad1 T7F9TNVINGFR HPPA TAVAVIATAADI AD Scanned with CamScanner > > Date: 5 7 x f <— 2: wuder dambed = =A — O zeta te equat te zero Page |__| Victory Scanned with CamScanner f & Date: 3 ——Acsigamend 1 CAvendy done in Chopter=5 by Ofala) =a —1 Derive the location of poles foY cyclem le be overdamped yuncey “___dawped critical damped and _undawhed 5 i a] _t Dele ‘the tite: techonte clt) of _underdambed,crittably damped and undanbed, ; pees Wd and wy }- wndawped natural traquew owe E . eee ete Seed eetcillation atthe q eee seer x2 Giles about shigin will have tebe valve of On but differed = values of zetaancl tue. a = ima inar¢ part is the frequency of damped oscillations andit og Kt tebreteuted by wd» e Sas Vadtal dictance from -the otigin +e the complex pole is the e fF. Frequency af _undawbed eceillations re: Wu - = = A e = Wn Wn wide Gig i wy, <__ tomblex TAY rw 5 dé a Bn Gin e = pt BO wd = we? C1~Z) = e . wd = foetney) a te x —¢ rc Wd Wal Ar = = = g € i ~ Zh) we stil decd generated, F ef eat Part fasPlex pele C— siniteidal > imaginary part ict lex fele pair Page L_] Uictory ee Scanned with CamScanner 3- Derive the exprescion for the rise time ; settling time and peak time or second order Sistem- 1" Mave 202 Overdambed “syclom will have vice and _settlivg time Date:tt Mare ,2022 _ Addie PUndalped ticle doce’ cettle, So tl hat no calling -ttme - Undatabe Setond - Order Syclems te + oY EC) bs 3) (a3) 4 $ Cc$2-Gn) Tiss Cg 2 Wah RE) S42 Tugs un We kvow tect, 2 e =~ ~~ = = ~ ~s “e He Sle) > 1 Gy Le)H(C) ~~ THe Seetrgioy = 1 ~~ sch Zn) Ths wy, “= SH Gwat ~s— Saeromt ma Gonoral fotm Then cowbpare with deneyall fore _ Se 2G mew) : u 4 if Gye _ te = Wyle * s(s+3) > wi=tio 1s <= 2 Tf = ___s(s4a) = 2g ~ 38 —- . "*(c¥a)s Zoomed GWe-3 —o te = Ge te Sete “i GH) GaGa — ast = Ges 5 =e = 4s ty [IH Q™ 2 Ths te wds Jie fiaCae a. ve was fle [aot Vv oO a tu 21838 ‘ “a Page Victory Scanned with CamScanner Date:. (step Resfonte) Risd=_A s => Cts) = Wy > xl Sa Gunctuye § Cts)= Oy SDM HT) After taking bovtiel tractlow 3 Reference ic i Ofetto. Mpendiick Clsj= tb S42 Gun 8 SZ puoset wn? C= 1 st Sunt Zum é CE Zug On™ es t Hf stGun So Guy (sR 2@ukewnrs Saute? ee S+Z un = SHB SHE un S42. Fwy StOn> (s+ Gun) Eon fiat (st 2Phosat ed Fara but-from Laplace Table Cy G4 Zeny= eet Cosmeth = Sta wd wd Csepa) te” wy wd We CF) typ sx Qu St Bun Ct ZyomPHORCZD Cor Zan HOA Page |_| Victory Scanned with CamScanner abhedadarlelelp bs 4 Fg qqggaaearerary eb Date:. var —eywnt t= 1-e [cocwat 4% sin wt] ets) = tf — st Zn —_Zun “Ay a Cat Gum HAE og 2 Dnt tv 6 ie SHrZpy, tn SH Zumt By GF Wy $y >: ~. Zum = Aum ~e SZ wy StH (s+ Zpwn) pe Go ~o. Sun = Gwen ~s SH 2ZwyPHO Cot Awad wd © ~s) but froma Laplace Table. ~ oF wut “> (stayw> e = Fen = a x Va ~e SHAW LEW? Csr GuuPgud™ S1-a> oe ~~. Zin SH ye i SH2Z hte” Coe Zwylawd™ VIH-Ae 6: Avs = wd «4 « SH ple” Co¢Qmjevl® JIB > @ thy > C= 1~ c+ Ayn ~ eo e 8 Geese [eae Gta eer e Cos tae ncwse 2% wd t . te . 2 » » ; » 7 D Scanned with CamScanner Date:. Expression For Maximum Over Choct” Mp Mp=_cCt) ~ CCU inal Let, CCU frat = Dutt) => Ast we) Mp af— Et eccwat +4 sinmdt'] —¥ y t Wea Max: over chest occurs at time tp and fp T wd on - - Com ro x Mp = oh fies walp +24 Sinwaty We, : Tee gtr | Mp = ~@ Cos yA prey + 2 siny (TE fen oteg a sisal) Mp» — ett | oct + 2 sin] Var but costr=~t and sine o Mp2 we TE f_1 + 21 Co] ' vrar J Mp ane Yd (-1) Mp = 7 tra but wf = omnia @e Mp = oh pale Mp -GaJ" Page Vector Scanned with CamScanner ga7IVIIVIPR FATIMA Date:, Exomble iL ci Mo. i BEY >: x Yo as ok oe tp. sec - Khe | | v t Mps o Crap) ™ | —_—_|_ or. aoe —(4)r fn (012) = Ye “STH? + 15609 = 7 AF Sth yer 609 - Bt Weae ostat= = 4 + a O-n.629~ 2~ 1-3 _ 009622 CI-Z2)s By no O-2.622"— Oe227 By Qe2bre'> Bp O42:6224> O-262%= 1-26222)> Dz" O22422°) 2 0.2077 0262-2 4 o4sr geee ee dgesde tpetme s BN wT Ae pa Sted Wn Leary Wye Bt case VF Gouts> Page |__} Veetory Scanned with CamScanner Date:, Transfer Funchion sf Leop Ae Te = 41's) 14-6 (GDH ISD He eB KKH Le a! The i Tee askth Oem T's} Ys) E The “JH Bs+kkhe K ae x1 Ths k ISG. i“ SABA EKMIAR ee os Terebereths Th: k Tee Bottckhetk wh. “sr SHGAKER) CK F + We Kwow that Se OlS | wy a BS3 Page Ueetory Scanned with CamScanner obsess aaaotoobaradaadawakareredadeye - J ~~ Date: ~ and = Transfer function of = __ Uy - Jeneral 2" arder under SDT MSW ed Y_ stesmPect spstew ~~ ~s- pe C383)" ~e. et 2Lotlcs) (2 S3)S (353)* THe 12k =~ gy BC H1TNS 7 ee ee Wy aT K ~. J - Here, Je 2 SK = 1246 and (Btkkh ls 2 ai2ts = 2Guns Ty TAtkkh)s = BUY DAWEH 2 3-24 G24) khe Sr-T khe 2-24 1246 Khe OfTT Page |_] Vetory Scanned with CamScanner Dates. tt) l s Mp = 0-254 tp=3 T We know “thet mM 2 Gea vee Ce osy = @ \TRA® Talons) g Heme rstoy = +f 4 \ae 7 Wad t3aqot = a BlYe (=a ose = & Tea olor = 4 ae Oor(I~ A y=—A™ O:Jor— O:l402 Zs BX Olfors 24019022 ~> © oqor = 11402.24> > Zs olqor CiJor 4 ousds 2 = O39 Page|_] Victory obbedaadegeoe eed aaaaaaaaaae tae Scanned with CamScanner ~~ ~ Date:. Sefer wn 2 = TT =e >s. but wd = wa Se g> 7S > dpe ~s Wad A> 7. Oe ~s we, S137) ~ “6 B= BAYS =s wy 60,1166) a) Wye Bret "e 3 (e.466) == =e. Wy abt pe Trancfer Function of the Loob— 2 Th = Gils) ~~. 1+ GiCs)HIS) 3 —* THe “Sessa -~ V+ xen! © : o Tt © ere ~~ +) aes S&es4T) . The o ~ - bait? OPES HO SS po 2 eperal HOR =f ont enter fe = Le. er Aavabed ccter w,> (143) a FEHB Dpy SOE cn (o.aT1T) CMESEO NY ae tenborind wy) ond ty) Sst OO “ee ae toy wry arse (04) = b42 aa = Leora => -Ls “UY de ut =F a om <= Page! | tirtmn Scanned with CamScanner Date: tt Marek 202 =selllinf time fotally depends om the value of real fait fe Gn, =: if -the veal pavl_is doubled , satlling time becomes half and aadee vice Veta ~s AD he took havivg same. ta pant will have same cat time . eh ant. =» Imadinay’ Caine, Yee same twa dinars fal Fie szitRaad bast he Lonagivary part: STATE - SPACE Resto nce Steady - state Errore Onlf presevt when-octew ic ctable- — pitt rents byw the input and _outtbut of a oy tem in the fimtt ac time goes te infinity G se: Whew response ha’ Yeacked the cteacy State) — 2 Orit blw what ic desired and what te achieved . Rootg, having me Same peak Hime. =2 Tt cam have three values jo , constant sy infinite =' ¢ ead -clate erey will depend on tWo major Eble hy inh applied Ccteb, romb ete) oy type ef system Co, ty Wl) == stead state error can be given for any s4siem lite _parabolie hd erholic ete =+ yoy is_ Ets) ey SOD, an on — etc) Lh of £ Ets) = Rs) -B(s) but Bb)= HOC => F)= Als) HONICCL) but | cU&)= GWEC) Page| Vietory Irivigaeaeedaalelelaee a aaaadaaaiaial Scanned with CamScanner —+ Pasitive feedback m_t6 not ctable_usualld we Date. consider See EW Efe)-+ Hts)Gyle) ECS) = RID ED} 14 HG CS] = RED Aes) _—> pet abplied Ta Het) GS) Enter els) = 1) Type of System Wis is the general cfoym of error VERIFICATIONS 7 =: Were unity feedback ic considered te HUsd= 1 CEH) U =? veing final value theoreme $ - et)= > SEL) eteoy= Jo s Rt) YtH (5) GCS) but H&)=1 seld= ass, & RE) 1+ QQ) —- “three types ef Ericy_conctant &s Qesition Ervoy Conctant —» sition (© changing) butt velocity is not 2) Velocity Error Constant —» velocity is changing ad OCC CCK IEA aK AK KK KEE 4 aH) al a) Acceleration Err eonstant —» Aecelevation is chavgjin Je tl CASE-IAt Type ZeRo SYSTEM a =* Step —Imput = utt)= Mg =: Aw= _ stt CYbe zero stctes - SB 4100 jstew) inl Tive 2 Orce sso ¢ RIS) His)= ee (+E y(s) HES) 7 2 &e= (So gery 2 = 2 Page] Uintann Scanned with CamScanner = for Type Zero cue »— conctant 2 Me en bil Se BW LO Coal obb Ming Nmit - Pi - kp =| __ 188 o = 9 en A = A = constant o- Vise +P tal ~Camet ste tt eo > rs ca e- eee Ste Zefo Sem Rareh fwput = Rts) =Afer ad Gls) = S#U O4RP 400 es Rts) QR) Se. i Ree so YK A 1 RTT oy Reg SA St GERD Ge tC Scanned with CamScanner Reivioa a9 oe: Date:, exbblging Wvait: sce f Byes + Eh ht ot MS Gits) no inte about Gls) co can't make thZere ecw A c CASE-TLA, “Wee 1 SYSTEM ~ = Step-inbut = ulsy= Ns Gls) =. stl SRE AS Gls) = St SC 36419) Tim ao SEW ses Rts) 1G) Osce Ose Nim Sox sao SYA ¥_N = TGs) IAG) Ninit A Ab bling Tt ese a 14 P0610) Fatty Kp = #50 G9 kp= ins s+ S(SRctd Kkeeo Page L) Getory Scanned with CamScanner Date: A oOo>>i 2ss2 Reo > ees A =0 = ess=o Fox Tube Tctstem with step input OF + TT Constant <> Pasition Error ee QV Zero CBAC Swe KO Cace-U BR: i WeE =| SYSTEM Me = = Raw ibut = Af ~~ -—- Gs) = sti = stl ~~ se ashe S(S% 36419) Tin 5 = Bc = che SEG) S ecs= Wo s RU) ~~ 1+ Gt ~~ ece A ge A x 1 -e SF Gs) — - éza M5 A ad S+eQgy ad ~» Applding Rwit —@ Cee = A -o- rs) 2 esc = A 2 otk ad Sco A > kv > = Scanned with CamScanner Date: Kkys Sos Gifs) \ Kve se ¢ % Sct BCR RED ky = ot Te we Vie ece= toh = conctact fox Type syckom with yauub twp ode “Constant, CED Velocity Evor eco ED constant: Cace~ Ic 2 Wee -1 SYSTEM —= rabolic (wpud ats) Gis) = Stl s(S43et10) Ti Scene sv0 XK A t SA (+6) Vive 2sgs S90 A let, Kae So e*Gite) Kas eo sy SH SAH) ty Koz so ¢ ¥ (St) SUF GOT : Cnty R SALES) ess ic A me A =A oF iy, Gls) o tka Ka cheers oA ~ a an a “Page| eae & Scanned with CamScanner kee he he Kea os Sh ZL (ast2) kee {So sti ers. Applying Newitt: ka = Vo noe = Sse Aforr \ Ns Date: Ne tbbiing init: _ka = © ‘s_ =) 2c A =A e ke ‘ lcci 00 ~~ Fer Tybe~L system with Parabolic thu ie ¥ Constant EP _Accelevattow Ertor = eso Scanned with CamScanner —- Constant” meanc_no_diverqence._bet infinite_means Date:. e divesJence as __CASE-i A: TYPE Tem = _sleb inbut = ett) = Ms =" @u) = Sth *(ac42) Coce Hos RG) teGq CoH Cs) Tim Exc = odo YyA yt 2 VG) ti : eae SSe A 14 GCs) Abblding _limart, Ped Ce A 14 Beaty) Cc AN a+ Kp = {. Gils) cay tie p= co s* (acta) t k zo Kp — 09 A ee 142 go Fer a Whe LT gictewa with Sob ~ in at Page Victory eed Scanned with CamScanner ger Per Pena ar Pea are Tawra Ags Kye ss SGy(s) kve lH ge stl A(as42) Abblaing tim ky = Ort = eee PTETSED ky = 0¢ a 2 Cua A =0 \s = Date:. Ne: Conctant <=> _fosition Ewer ‘s ég > Zero Me CASE> Ma, Te T system w~ _. Ramah énputs = Ale for_o. type IL cystem with Yorba “SB. ttey - set Covstavt

otkv = ear -» Kv =y —— ~o 2 @. 2 a. r] > Scanned with CamScanner t Date:_2! March) 202) Troncfey Function Reprecentalion Foy Electrical S¥cleme = Exawble 1: Find Tf Yelating capacitor la Nets) -te the impul voltage vic) L Lif nol mentioned babs a ww _) T- at vit) = VitVe 4p v= L dey 4 iWR+t (riety de at od, = Vout = Vel) Vin vig) ied YA) eatteutte thaws vel clone ai vo= Laat) 4 RA gt) 4 4 gitty at® dt ver) = tt) Taking the. Laplace “aud veblacing t= (Me V@= Le'eVele Rs Mel Vet) V(s) = [Les Res t4] Vols) Cc => qtt)=O% Vet. 4 ; VO) Les RCe41 ; Mey) = Me ( v(s) << Ree al i fet Me ; Vets). fee vec) Sry ste 1 4 4 4 4 { 4 4 ‘a Page Uictorn Scanned with CamScanner Date: Step-1: chavo into Lab! rte Exnmble + 2 jactk——Vt a aoa fete f ; ‘v(c): she Wi) wtele eqinty) in fotee Find the Trancfer function Lie () tet 3h) san Wii ale TTR too as “f. +Hesh— wo (SY ry ) Geo ) AE vet Mesh 4 — vet) = Ot) Lacy) — Ld) —> att dt Meth 25— : Vn tt) + Nep Vey +boR =o U"imat + Laity — Lath Rue > aw i tis f & 7 ae AE sven change lay into yu) 2 Taking Labloce of eqition ay vequred: Lf BU|+ Lsts) Ls ti 4 LOR, 2 els I aoe fs) + LSTCe) = EShG) + ht =o Esti(s) = [te vist elsty Us) = [Meer te +8] Lats) Ls alind Labtace sf ¢, ation M9 = NOR, Lstto =lsI.ts) —> 2 Rik the velue gt Us) ims “ aN wh 2,5 Ve). Yes Susy TDR + LAT VesireeR|fots) - Estate) ee “1 SOG Hs Oe e KKM es Hdd CK TK KCK a oe | Scanned with CamScanner Date:. veg)e ies Lee Re | RT) + [Ver+ e+ | W-LeL “Ls Veey= SF Mestest Rs] Ra [Mect Lot @s | =ist Tats) UL ts => LG) = | vs) (Zeer Beis VegtLe4R, — LS LW) = \ — vi) T Vege St Re) Rr Ls( eet eR) ee pts) s bs vis) & Let RR, ie +14 Be) Tats) = Ls ves) RUF LER ER RAL TARE 13 “ & Le TW = Ls ves) eis Be Lepr R Rect LS Daael | Vetoru Scanned with CamScanner i a ateleve and 2% Sle Vartantes > for = cabacitert 1S" erley syste ve ancl vv . Date:. Ne State spac of Example 1. YY Subbote, ». Velty =reht) > ate Ate for Yet) » ict=ty = Ct) ~ VQ)= Vis Vee Ce= Edi try vic R+Me ~ ae » ~ VO) = bebe) + 0 R A> = at ~y. Vet) = LG + Roe Ct) 41) ~» > LR) = _ WO) = Rx tt) ert ~ 201) = YO) ~Boeset= Voyct) — a 7. > We assumed that: = Vet 2) CD 7 Lit epee = ty =. : = a fee) ~ 4) = Apply ditterentiat oberaby on beth sider ai + ore Qt) = 4 uy =e v4 LX Ct = 2) —#- 2 = UM= Verte —_, sy 2) = i * Ba ie + Butt) ge Cen) +dalty 2fO Vel Pray] + pop ayty eo = vet) a baw] Pie) Loatu[ i —— > VE r) Scanned with CamScanner Date:. [oo | e - = ap>[ 4 olf ue] s te] uty gi ee - ~ vo ={1 ef matt) we) utbut if Y vot across _| %>' acaba a — induct ih outbut woe cutteut thyeus ey = fo tif atts xa) — ™ a system te be _stoble » atl closed lesb potes must be In-the fett =e Voviout methods tb find whether a _eyctem ic _sfable o¥ unctable er STABILITY:- hatf 4 tthe plane + veovgina ty stable «Roun Hugwirz Mewen Net One to einen pe by Form. st fewl characteristic. ection Wiis ae i‘ 2) Ferm sie youth arjad >a cot ot auriliard equations — = Fivst tuo tows aye: writtel” with the he[p skipps vd ane corde} ef sistem Given eithey rd ehs, oY. old oy focus ow the Firel column and obsewe the no. of Sign chew ge. No. ef sign charge will Qive Nor of closed losp poles ow Rte if ne gia chawje means stable sfslemn. This method mat involve three cates . CASE-1: —__Fivel ccluwm has all nor 2e¥o numbers case -Tt: ome elementt are zevo- case ils Whole column har zeyo @ntner carlt be stable stctem but can be unclable or year diva, stable Page Ting # Scanned with CamScanner Date: Yee the any row will have even Coerfficiewle while the 94 yu, v : ‘i ieee NS itl hae edd coefficiewke cf the Given sd chew . é nny tne g tes combleted with the heth ot sistem Kae by = net Rnrade (Buys) by = Cnty Bint = Cat Anes) Ant Gn-t y= nea tbr) — Caner bs) b. = by change Question 1 Qs)= 2s! 4 524+ 304 410 Bn A Ona Oink Eat st Qs. to Psitw oe STAN 6 Shu Be WH ce) bate) M28) Ge, ey S a 4d, ds bie (b)- x5) Brie = 1 T ba = xis) (4) = joo iy BOOS Oo Pee ESE CE raed Hdd adie Scanned with CamScanner cy = Unixe)—(oxbs) = 0 by 4 W TEeP > There _aye lwo Yost whieh ave teshonsible fer matted cf clem wnctable , > Theve are ‘We rests en-the fer of the Syclem d Cor ¢bs) (by Xa) c Teanga tree fee ae tere tee aed econ Thete_ave “tWe ross yh ch have, osi (ve_veal_ part = N28 Xe) - TY) 2 tO Cie Question~ 2 a = kaqa cia oS bi~ Cot-a)- (ont). > incthis cace we cant proceed with thic s E evercpme ‘nic Yeplace © with” gfriton ©) (= paste ° D> byeG3ejo a & bye Cbxe)-(t¥e) _ 6 g SES Oye 2 CE es = ee no = ie ae CES é x2) - EX) 0 ayo)-2 Diffareuttate wit © 6 EAA ASH Hi there is no sigw chawe “the em is moyqinallt cteible and ot —theve ts. qu show}e- stem is _unclable ; but SIslem tant be stable in aug condition » 7 a a ign chanqe foro :mormal tistew, in the five TR either atl signe aw noqat rss = 3 qalive ey atl are positive. ischem \s ctable. PP Pucction -3 = Qls)=s"pct—c1 meh nwt rr Ye =. - ws OT Shot 4 Owe atte = a oO =H txteb-n) = 4 ea es DIA wal = CEPT = + : Z DLs— 6 <—~ Replrce the coeff inti =» wee °° a Wioe-the _ ~2 gt (2 O 2 whele tow =< wats eas pee ‘ Te pik-the above yow (step-U) 4 oO oO b= CXD=-Ce-) _ 4 v peer | af Scanned with CamScanner / Date:. Gye (e~ C1) = 0 _ 1 Cy = (r¥9)- ye) = 0 « ! d= @ e-(iye) 2 -¥ =-1 be yo > we There _ig_onlf one sign change in the fivet coluwm of Routh Huywitz Wet co the System Is_unctable - Range. of ke a9 Range ot K is _cetected from-to. waiwinaum Valuer. =: As_k tneveates ,ttetem_ ic unstable Ots)= story se be rks st t Wk by = (eX) (6x8) 20 s 6 6 © ; to & to ko dy=|6-34 xk] -Uisyo) — si RK Oo fer stabitty, 7S") s k o 0 Koo | gore eS k410 T 04K Slo b= Coxi-Curs) _ fo 6 by = Cork) = 6k =k 6 & by =0 es (loxé)~ (6¥k) — be-bk . ylio~k) = 6-3K 10 yo Bo Page| Vetory = Scanned with CamScanner Ehapler=6 Oat chabter- 5 Newnan Nite. = ifthe syctem comer ovt tv be. unctable_ne_need todind Date K 5 — {| a) a) Gilc) =. k Y “Gay =-Te-tind the cleced loop poles we. need Know the Value of k. —* We aye cowsideriv9 “fositl gain 4 Sytem so Kk caw be 112) of to => fey negative, Jain ‘ciglem will be inverted - —* with: “the gain_,closed loop poles ave movin making the fsfemn stable , unctable ov mardinall table - + Her, K tc Oo Conctant: Ractice Quectione v £) I {is} ss ete ¥ peta \ 8) > Re] a) IK GispiGD SKK Ow EP t cy st the state shace is given instead of chavactorictic equatton , ‘the equation can be bund by Ist-A| vy Gt = te SCM) QWs (5% 46-418) - csr ECON “HIBS DOSE RS ROCCO dee ered se SO SE e4 ig ait ee sea ae x4 ° ° Ss 12 }O ° ° 16 g ce o_o Page|) Vetoru Scanned with CamScanner Date: b= CAya)— (ox!) = 18 4 b= (4¥0)~(t¥e) =o a Cys a 20 an eutive Yow 1c getting 7 Zefo Pick Ihe above row Co = Craxe)-(4¥e) = O J 13 ontidey I8e ytake “the devivaltye te: 1B =rthere ic no ign change rho the syste ic marginally able. eal 2) Gs) = sest3ytstle) > Qls)=_stst3) (etto) QLy = sCs31384+30) Olt) = c®eyac*4 B08 Sn Oy pS Ane FS I Ki) tte) Caney C9) 3 s 1 30 o s' ts ° s! 20 } CO Bos e-untle hmnclevietlc oguatton st 30 O° O) Zoe dit. wrt b= Crayze) Cox) > 20 1m b,. (tevo) Cox) = © Is &, = (30K) (129) = O_o enlite row Is Lovo, considles “the Be alot row + G. = 0 sitllebboeadereliehetdraaleaieeraedeee Page] Uetory Scanned with CamScanner = => For atest point , whether thc potnt: exhibitr the jouw: = eee ob pole. contains all ~the transiout: character(cltecDate: 24" Marek | 299, oF the Cyctem ‘es =: ebsewwin} athe iret column al _touth atte we Sof hot there te no ciqn change So ‘the sfclew i may incdly ctable - + Roth Howitt give, the. Yang o e{ kk if tthe SYslew ic cable. =~ Routh Hurwitz doesr't fete Wy clocod loob poles location . P+ - @ How the poles move tf System ain tc twcreaced - © How {2 improve the sinbilitet closed loob poles. Wy -about the Grephicat dic lay ot polec location « Root Locus- GHIGEA ASAE K Definition Combination et two worels, Cvosty mean “the polec Me—leop sistem while ‘focus’ meane twjectory or path . T_T ic a techwique thot tetle uc -that how the ‘closed loeb poles wave. wacying Graphically ifthe cyctewn gain is changed oy controlled . TH. Two basic “things sate be known ae of closed Toot focus “eo Angle. cauclition dy Magnitude condition. = —+ _Everd pole hat its own brawch and tre to -thie branck trajectert ic ~~ found + (no-ef branches = vo. ef cloced loeb bolec ) : = a at Gives the net effect st at clesed Lozh poles ef the ofster wo Pest locus stots owe fret aseraan Squaions (4G, ne Magnitude Conditton- eat JHfs) \= 14] “he value « -e Scanned with CamScanner ~-6y a he conditions , we mean that the poivt is following The pale st e dlored loop fetes et Exawbler 7 Gain not Zero even it itt value is piven Date: = ete) = Ce MORES Muni We feedback - Sofa) o tect pot. c= -Itlj a Magnitude Conditfon — ai oF Gq o)Hte) =~ 1 iN Lait} - Th | fey sy" | | Taye | wap, © Toke uh be om \ ie ssisted ty i L ikl = |= tt am) bal ee 1 it l $43) \ A ! =k ehh Vel = bs €St 0) erkesf referers) eg t tht eo} )) Gr jta) | - ikl = Ee Ofte Hkls 2 Cconclztyon Satictied) Ce tas A gle touditin - pofertte-huativa value sf —“80r8) i. £Q, ~ £0 £180 (tom, Oa = ten! (4) * \ ; J Ox otc" q 0p ~ pt tgolt+am) Op ei Bons - =O, -0R © -136%45". - 180" Spe rae® 1 4 “* Ceanclition copisted ) LTTE AR te wot seiltedy ing aw chi We 4 sr ak «am ager nt ei con Niton no need to chore ‘the value of mm Lal 4 i Rost Loci _piviadd © inte tivo bart =— wi Rest Lect (fay the’ +¥e value ot Jain) 2) Comblementarg Rost _Lecut (for the -Ve value sf Jain) wi ble: Exawbler : Ors Test peat sen 34ij feeb, LM (o)~ unity -ve feedback. @nsl : s Magnitude. Condition on &GI9H() =- 1 a Page Victory ca Scanned with CamScanner Trot lech felet or pole itself ic net moviug bul ‘he broncher aye moving. + Bwonches from zerot never MoVE~ tk = [- sts4a)] Ik] = eeaxip(-sttita) | the P= CanpGre ikl = I= (a -a3y-y-1)1 te tke CoG et ty . waiat = Naver the polet nor tne zeros _af the plant move ge-zt/] Date: 3{—Matchy2o23 * Branches NEVCY ante rom ected % te en Gyls) Hes) + % Wh = |e | 7 | SCs+2) Y fv ; T = + Since, we have ima gtwarg fpart_iw “the. moduitude seorthe teat point ig wot a! bayt st tect locuc Thee. steers Conctrletfon rAmalfsis DestGang— Conctiuction ct Rest Locut Semphasizd on Firt sie tutor last-lwe ruler ate Tere ore 2 debe st the ougthuetioni ROT OT ee Step- Tin Locate “th eben leop poles th ‘the syste - ThygoPoints ave vert tmbor-teorts wa The locus_will text from ew leob ole db The gain ot ctut of ben Lech pole is Keo ity Wet ho. et brawehes will be equal te jhe no. at chew ca pipet) —-re.at_ polee shuld ele *. os of pole: is Glee try precast “Hramelon? ie gall “al th tind \1 ein which Alene eT ne ate Te feet het git OTe Coe Ae cit en loob polec Tt und if, Moves wiufiuthy iam ~ elher pele = Beret “ox Poles SH eToL fateh ot zorot eo pole < zepos (act forcible) oid Intl qaiv Zeros, 2 ee Page Victory Ty RL ie tha trojector4 followed bi elored loop poles when -the. Gain charges Ss ca. OF Ke 08 Date; —Step-l s when k= 00 The R-L_ terminates Cord) at the oben loop zefor 22} : -Step-illr Real-Anic Segments — = RL will We mthe s-blane where the sum of een sob polec and Zeros ic odd. —> Sum Mmeane the quavtity of- chen loop ' Jes andl zeyos - =r veal atig (KrO pthe ReLenicts on foft- * ion Not: cee perenne RL >| Because Ta y ems ce © | = onl vali fot veal foles and 2eVos wot -by Comblex bolec and zeror v = actepee Angle, a Acgnbjole fast neeficte io pubrettine hp = (BE (rERM) ig m= Oya ay | Cpt) oe sect bole DCD nod coy, _ second atymple- = == + poles that dont hove zeret in their vicinity ond ‘hey iach mace = -te_iwtinity in Seaych st zevo¢ oe a cefnbtabe = Now poles — No. of evo 7 = ° Ween 2 Aasfmbtoles Np Nes X-2=] = mies we on - ~ © | i 4o_intinity with o —_ + te will move. iw wit with come angle rthe axgle tha ttfoll ows a ~ it. Known 2S Angle of Ascanbtste ~ J - ' sx s Page] Victory = Scanned with CamScanner N@ bortoQer always Weve, from foal axis te merge wry zerot ‘= win i i SS atid Noah tedinity Dates 2 Ng _Exauble: 3 ee) = kK Nees, W220 sot ty) weOile a= 1Bo Cita) tp-Ne Paya WWoltt2x0) - 1B0 = +.60" = 3 Drv = 'Bo C420) = Ip = tae 0 (a) = z bo . GAs = jpolit29 = 194(s) = + 300 .-60° .. > - epee Cowtjoid= + Reference peiut “on tthe eal axis ct whick -the angle» sf accimbtote. ts dvown ig called centtoid « a —* No qule for _sewtroid vit can be oh RH of LHL of aut bole or zey f o_at_infinity Coummetone Sa ent nT d : i Centtoid = =Re th) ~ 2 Re(Zi) e+ Only yeat poitt_ave considered on (Np- Ney hssqmiptete. bee Cenbold iSow veal fox _txauble s ge Re +\In0 pSeo yh 2 5 Bee Ors =-I G=Or1=9) GR =e) 3 Steb-Vir_Break Away end Break tn poivits Ay Zetos ef ivtinity (1) mere & Orly break ama Ayre Th ake eee ese eM “ete in, reir ant We poler we zeret f white usill dollew Angle ct 2, Zero on vest assympiete fo Tench Vufeoreg Ox SMe ee Sedu dd IIT IV III ddd else ¥ Scanned with CamScanner | Breaking iste Date: — Break Away foinb foint at which brancher of foler Jeare the real alt Break In int Girt at which branches st folec_enter the real axis te merge inte owt on real avtc | u x No break-awo4 poirt ony xe) ae / one bole wilt merge] i wilh Seve and ore pele wilt {otlour igs angle of aasymptrte |_ Fret te infinity WHT eyes i ee How -to Fikd Break-In and Break Awoy foivts= fick ub syctem characterise capation ae KGUE)His)= 0 Sperlvale “five eqn wit s- SS =p FAbeoral &) Cubic oy quadratte 2g is achieved Sy Find ottt the voots of “the eqn achieved Hy Let wo hove AyRie yeote, §) Two condittonse = = a wis Seqmentevule 8) Grain Value fer that point should be bositive and ‘reat. Examble 5 (3 peles so we have 3 aseguablotes) foils mut follow yo Gits) = \ unity -Ve_feadback S(s41)(st) Hw) ==] k i+ KGs)H{s)= 0 KGCeytts)= =| % alt - GONG “See Abs weren o co wah ote SETS kee [eGtnGey) ES Page |_| Vetory lier err PAT TPP er rmradaaawaagarere Scanned with CamScanner Date: 4!“Abvil zon. ke ~[ stsoste42)] ke > Ls? 430% 2¢] dis = -d [steasttac) ds de o = ~\3s*t6s42] Bs bs4+2=0 Q=3 jb=6 ,C=2 Sur. bt Pete 20. Stoo —64 (6) 4) 2s) Sia O42) -ST k= —fsts(st)] Ke -[-o%r-o4rnCoks+t2)] k= 0-384 (+ve and Yeal) be Since, the reference. pat is in between the two poles i thed breakaway at -thic point following the angle made bj centroid while the third pole move te infinity with asefon ate angle of Hes Imaginard Axis Crossing The Point after_which Syctem becomes unctable before Abie point ‘stow ic Mayginolly stuble- At thie poiwt let aye crosclng. inna ian axis — We hove, ua unknewnc te kK and a in the ITt+kKG)H()= 0 fellow ng eqpabion = mavinume vange st_k after which ctctem bocomer uncfuble SSSI L Page |_| Vetony ~~ Scanned with CamScanner Date: ~* So wecan ute Rowtth Hurwitz method + Le KAS) =O Sage trst Keo s(s4tety) I+_k 20 pEverorts => Qis=st4 ere +k 4 4 2 S43s 424k - 9 So k *s _ BK /s DS4sPyetk=o SPEC 428 g kK bys (ML)-W)09 = bk 2 3 —+ Fou cl yow +> zoto oy k=G *(-¥=0 oy Keb) = Uz a5 t => Reblace, k=6 inte 5? Yow & - (FP )W)-L2)fe) a A > 38+k=0 eek BPkb=o Re —-f x 2 = 72 fi Frequercl) sf seddiv Soe tATE= ov Ss ti 2 wet poles that itl vteve te infinity with an angle of Ipc The boreakouny peivt te -0:42 co “the two feles will continue the angle of go" opal Som infinity ubile. wating te ivy it Coston the (wadinary att with ~ maguitude ti "iid Value st K chawfes frov 4 te be nw : sw w® Page) Uetory >» ~ Scanned with CamScanner Sweet Ne Exanbler ( — Tun pale L Gis)= C642) (643) unify “Ve fed back efclen ststl) @reak in poivt Asstwbtetern co) Np- tte ood f f a-d=0 ~ no angle fasermbtotes 20 there te wo coutrold » Breaki 14 Ket) <0 IK Csty(te3) 29 ststt) K(stayesta) =-[ Sse) ke ~| ststi)_ |] Csiayts3)] deo= af sks | ds | stescee | ek. = (2s+t)(s sc+6) — C2yostsy} sl ak ds Les Os =f rata sts lope gs CS esct6)> Sot) — Ssseiesso)] (stgte)> wone 4 Cs sc46)* Us*ytos 6 =0 —. —~ OH bel2 . C=6 — Susocbt JVM 5 Syne 064 , ~22t ee | 7 ee) Page (_] Vierory Scanned with CamScanner OWT => Sian = oy Sfstem espouse s Horse Wott, Semple ACS ke~ | Saree) ae leas Gi Tuer clase K ef -o-ey (0.641) UCeeuaa) Coes), KeO-0TIR k= -[ seh ol ke -[ -2ag-23640 7 , L[easejeses)| ke ly [atl afstew is stable for afl Valuer of Ke =*Thic_ofctew ic beurded tuput bounded output” gf{stem as Thor zetoc —* with the change. im gain, the tadiue et oivcte caw be charied =* fer combler bolec and etor, angle ot _debayture aud _avgte of arrival’ j-—toncebte ig odded +e -the previous six Yules- | Avdle of Debarture —> foles — Avdle cfArrival —» Zero je of hebarturer Cfor_com| wd zerat [e+ RL ght rom oben loob oles = RL teminatec at ches loo zeror - cases for Comex (over Anup ZeRos argest qo" kK TT 1 =: Breakawo bt = pele = + 9ne pel sjiouthe wilh! eevee [eteue » wi = Het delon 1le aE cotter porturer Amal at whtch ‘the. comple pole. leaves tt evipin —The angle le ot vn coublex leave tks cx following the asst angle Page |_| Uetory seomintnnt Scanned with GamScanner ioe SE AWOG point com only be on yeal axic so if ft hav cowblex peat leave Vasey ole= the" . % DaLdabtete = IO == + Conyugate _anle =-9 A 4 aniabele = tye, Ene Augie an debarlure = \Go% £02) wrt ‘the comblen folerlakeh = Op. warrtthe tomble'xpoletatey Angle of Arriva The. avgle_at-wohich ~~ conblex ef feal poles ever iuto “the. Complex zetos =" 2er0 Must be Comblex but é “ me Matha tically Complex ey ¥eaf plane - Anfle af liye: B04 $82¢ wrt ‘the empterbcleteken -£07/ wink combler pole fake, prtcniugate owOle af pele. aufle ot deforfute «1804 624 ~ (To+64i) Exoable 6 . Gils) = k= We oben loeb zeros (2% Aras) ime poles one al origin Steb-Ls Deternine poles & zevos — fle at sao, c= et Je) 4tNhas) 2W ss ~ Gt P3pt00 = S= ~34j4 Complex pol2) Novet polet = Np= 3 sof zefot = N2 =o Step -t: Map poles and zerot onthe “planer paese SMS bbb SETA didid CORN TTS As hdl W re ees Page| Vetory —_ Scanned with CamScanner > Of, = (Bo'—S34" 126 BG" 2 Angle. ef debarture. = 185-(904-124,86) = 3bBE" we Steps Augle cfaccymbtoten slep-V: Breaking foivts~ thm Bas Bhs 4 Kaye ro Da = \ooltt a) meh Bismree le Np-Ne . | Pay = rW0ltte) L460? (24624260) . 3 K-- \ sh bs + 26; | : Gyr ~ (Wot rive +180 dk, 38a +25) F [ ad ds bat ak eo Baa =_1Bolttsl9) 300 = bo" oy Eta eaedas)a0 - = ae 4lde 42020 | Step-V:_Ceutioide tyne NON "| : 3 =TReP—s Rez =) “| “e Siz- 242-08) Sy2-2-200) get Be Sere Ho breakowa ‘st freak in a 3 3 points Genie: hed only — Step - Mie Augle of Departuve — exist on veal~artc of ¢-plane, fgte at debarlure. = 180+ sZitspy , > Bo" — (4-4 OP) = Ope 10-91 = atl = Or= tow + = Ore taal ox : ~ Aye 53:1 on =~ S ws ~ w Page Victory ~~ Scanned with CamScanner 4S =: while the tem ig lable ov unclable fey thit value of Gath and yoluo of (mn Qinary orig (Sing Date: % Sleb-Vir Gain avd Lmaginarg Aris Cyosclvf| = » AF Kae)= 0 HERO AK ~ atk{ Jeo “were » s(s% 66-495) | 2 stg'stitas)theo » ayes Batt" Gnnay face S S460 426°8K= 6 Se et S25) EY _ Sock So tt _ottien ae ae = ea 5 (04) eI Hl) we Fo oe ~ sok ° = foes! tow fr zero > ‘ef 20 =) kel =" ebloce KAS in row > 6sbk=o bs1S0 = 0 Frequency = 675-150 ge otiw ss 18fe Syls)= fu ge ras we tse, se FOS S- Yes) Analisi This {stem has 3 poles and Mo 2evot 10 it has three assdmbtotes Jelloutng she. cugles 2|_ £60" 10" up infty the breakaway botat ‘is not Vokd os it has Comblex bath: Angle of de arture_fer ‘the complex beles ic given bof 3080. hile moving to in tity Ht cyoster he. jenna axis ee flain value kK=t8 and 4 Value ate after this volue Sjstem becomes unstable. MMR bb hb bd ddididdid vie —-We ate. studying cloged lech fs Example Chngle of_Mrival) iclowes: Date:. Rts) —3O—1 KCSe.ScH9) Gesu) [VOD YO) 43) “=e Gly = _K (C46 Sot12) \ sts tsa) ebew loch zoo, Res & Zeros o) Laacenadi les & Zeros a 1 pact . Thvee. bolec $=0 | SH=0 Str =0 t se-l S22 \ SS - L_ SS i Np. 3 Stree ep Set 7 Two zevocr ~ ace WY Break Awad point, possibilities = Two possibilities — only depend oh veal sequent tule. fe oNawerowe BI? fessiilty 1 fasiiity 2 Palsepe ~pTasillvee, s+ pieakin bt “2 =. one will Follow 2 polet ave, ( \ Be eulerie] re aAhes fom cirelo eee “7 eal avi = = cok we ah avin a7 peered AC } Break af PBS NZ , Breakin. boiutgr 1+ k (se 6t4i2) = 6 sCetty(st2) k(4b-sc4t) 2-1 sUst(s 2) Page Uictory POPP PPIPIRVMPPITLAVATVIVAUTAAARARTE Scanned with CamScanner 8 > — Date: p—__ke — | sterner?) | > tpadoa-a™ est =0 ___ SESH? Sra -0493 G--1658, 855 -S1y Spa-80] » ak. -[ Prac y 35] be Ae Tegan » - [C08 Gr ™NCcheserta)— Wise wl a6 Cs bse ttD)* J i oe : ae Vas gsc? abet cee age 964 24 1841) (Bese a cdinegue — +125, > STEHT de . ~(adaassdant asta’ Meera = — (tence . 5 Dye 5) a bugle at Acrival— (s¥esst) CHG SctlayE Santee s Lange from poles — Zanfles fiom zevor Oa. = 180" ep e0.4 eR) ~ zoto i mati Ge Page|] Cetory ‘MMSE dIddididWrvvvrrgree Scanned with CamScanni

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