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Control System Hand Written Notes

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SWABHIMAN SINGH PARIDA
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490 views

Control System Hand Written Notes

fhjgkjk

Uploaded by

SWABHIMAN SINGH PARIDA
Copyright
© © All Rights Reserved
Available Formats
Download as PDF or read online on Scribd
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Soeovsors SHTOHOHMVHSHEHHLeOFTSFSHBSEHOHSSSCHHOHBHBHOOE Contiol’ ‘System’ , Gighal Is a fof | at) | yuo + syeremt Bp ywet ta}: TL, troncposmation- ® Contro| Systemn:- JE ts 4 system why. Gstave): fos a giveh tp. > Op of a system can be co} compan} system - Contro| system &S thas meant ok mntoret ts. mamnratned O4 yo a desired manner Disturbance wie need . atteast Dylprbances eRe , J | Proceo [T contol oalp Signal: Aug / (os) EB. elem . J rant (tronddncer. elemeny Colp thap the. — ective contro) System te fo ensure “Te ovf of i the command 04. desired * Lontrolied elP becomes San op: Tes’ Store ay veLLuLe . Cortsol > Bsror deteatos lth “the help of : signa] whtch the difference 6) o}p.-whlttn Le je as of System B gnown 04 steady State tne controlled fp otcours then a safes Bur 4 diaporbance te re thd +0 os oan coy values te festore. the olp 2 ee nd systom U modified 44 show! SNSOL. paodoce errs. desired ofp and acroo} tepaecsed by the conprolier Hence tho b ces removed faom~ conto] 9ysren- te ve ator s 4 iden fy als turbances oppered by fs vied +o part not of — A contsol system Can Looy. ofp only a0 Poynor posts ™ ov = [0 Uko rpspep disturbances , 4onch to stea Spote volth- pom: decavie tented ay ston & ance effect associated Leith Ne, at th fe ayarorpan ces asbepafed uy mu be paesent™ lov < toLot. 7 *ve feed back, gryne} ave Feedbuck ok pease gatft” may ny 10 un psove => Veodiax in wns system 3 empl “is excuyaty} pot 2 ub “aufedh shel rete of ly: Pvt tys eft ke Gan, Bw Speed. obit, sens DO aa mmm mmm BOBRARRAARR AG a a Boeevtoe : PVDSHOHTHHSHHHASCHHSOHHHLHHOHFOHHOHHHOEE pen = Washing machine spem Ts 7 we need to make S tho. SYS Fe oP overtone of & “Differ ang a cL cons Lefpect} da md of? ve feedbak, + NEBCS es [orcs pep tai Sansos wfthout sense eq: bind mon with eye ‘oot without vahe ~ Ponsos. 0s Peedea: ences bpd. Dhe amance an Open Leo tro] Se : ot P te Ye man ca pve febdbacks Contsol Syston 4 Face [CL Cs Man-machine Automatic Si wil be cfrantated along “8 closed :path + 9 once Pang > Macnine ene manne cLosed goarms the dose Thaioop royerher — LPOP” P os Open loop CS: Loop Systeme doesn't: Ke tes tf not Pp ofp chonges Hence OLS fk nok accurate a. In Open-Laop Sysfent, sence) &- IM Uose Loop System Sente orev ot Vsual sengon Te paesent- 3. time Lonstan{ of oLcs~ ts L a due to whidr Close- Loop CT ~~ does The behaviour of the phe ds "The benaviovr of CLC ge i changes change iy ib oP nonce LCS Le accurele- ts af eda 25 either Man usta] HP coro cll 7 3-Time constant bf CLES Me smalte due fo wrwur pans ent de nanciont taxes: Large time] Bs be cae ee gap aapadlyy ence LCs PS Ty cpow’ fast Noe ee E———E—E—E———E—E—E—EE—E——E—E—EEEE—E—EE—_—_—_—_— 4-The affect of external disturbs [4° The aypfect of oxternal desir, nee and imernal poramefer bance ancl Prpernal ram A aramekey vasiattor, ( more! dy OLS C2 | -yariarton ee in Gar twop ¢ oLcs t more senshttve: syst pe CLOS fs leat sensitive. § feet sfmple and econamycal-4¢- CLCS & ewrnyten and expensive: | 6 GLC ‘can became unstable 6 open Loop $4 S72 RB osvelly apie bet Cont be -estebtiied | bot can be ‘tabalfeed: ‘ TE beedne unsfable: . . an : 4 > Onli) ttable Lystem Can reath Steady safe - , ; Be: Ha orcs: Ps staple, and #1 we “phy wve feedbak to Pts thon whah Can be tacey abt ty of system: : >. tha: Grabflity of system can't be derermined excaty © : tt con mnereae or decre ae é € Note riNo: feedbaX qurantees stabfilf whoreds “Ve ; feed loa.ek gives porter siabftty ds compared f° i “Eve. feed Bask: 4 a. Iraplle © having ve pa ts-con SHU become - © USfable ia jor 4 © High open wap goth: ¢ ® vigh type no & ® ur, sensfelviry- e ® sa aganspostoton delay (os) Lag Pate: « é @® Dipperences bla —ve end +ve feedback sstem:- a Perfoamance citerial ~ve_P8 cysten | te eB uyttem 1. Cefn v t ~~ + >? rs a ew Ut : 3. Teme Constant Vv y; —@ 4: S peed ” | Vv —— . oe ‘ SSVSSCeESSeOGCHOCHTSSCCHOoOPVESSEOBSCHOSBESHEOGOOD dSensfrivity | ; cen ee 6 Safty DY Speabetaqve =e. ameeamnnane ~T ee a > Epr Pbhak fo contro} speed Of- Gog. was enented #h year 4410-9 Steam Engine ( Puy bolt) Syllabus)- Maynemalted) Amialy $3 of OSr-- . -5 Rased on two standard Mathemettee] Model ©. 4s TE. Model: Cuassial Marnod) > CLT) a. crake Model CModem. Methad) + C aeney sy stent) > [Derma | Prey: Pome — VY Cont Tin UT pT “| oret: prateree ZT Teme: 5 @ Transfer Ponaron ltd -- 5 api sour tat itt ooh Rils ratio of “0b and tnput wor be . rr coq ore Suef gaty hloned 29) tcl09) (Meer storat we AR + ZSR- ‘yansfonh ctale.- Response od. Gp * gtorfc Os) . One : 1 ‘Steal} shale cod”) SN : Lee], Lem. = LERRI . LLPRs putea “Tpste)} ~~ LEpw] Leu). Loto] hone , en mt = Lory =sU Cex) = Seed = s3L UPR], of Noter-tanufe Prof & system te vosear eeeme OPAQVE- Buf too Systems con Pave” some qaons fer i» haf for. 4 single sysfem thole os Dr one TR QTE apays depends ondy on system Lomponents wt douynit depend on Lhpot and -9|p OF system Mathematica] Analyste of. cs usmg TE Model: 107 F C cons ox stant stston) spear Anat Response Analyste” we Qe B.D ged ° dp fe, yy 6 Qa ros ule; ypacimdt] RN Root @ Nuquit Plot Eute)» coyat Gsiterta tous 8 Bode Pict” Bg wed) ete qu. PM: © Controller | Lompensetos -Chedesigning of systan)° @® state Model . ish Date: 1 9}04/2019 ® Blow _ dragrant Representa tion >) Gandard “Topologies I © Gertes ficosade / © Parallel | feed Forward 6 uisced Lop [ Feedback / canonycal: 4 Series | ead Cascade Topology t- “ao sTewheth 00 [re L, 4 pus Oy I Star ch $2s > thme ts used to BE w 9 Fmegoency, See ow ARAM HAAR AMM MR BHM oI SARA mm A mm PCOSTVHOSHHLOHHTHOSLATHOOHSTSLOHLOH SOOO OOS 7 Caltcacad ng ts of too type! L¥ Non. urteractfve g. tnperacttve In. npn. Entoreerive. cascadltng o]p ot ee ~ wo t—-P leeks ype %& am Sepsesentatton is ner + Bloc age ne . c= Ro 1 = BR a\e= Gere - Rol) = ~ mes fas) Lnoaltng fe a. Poralle) | Feedfoswaid \- acs) Rs ole Res) Ged as} oe) > ccs) = + ct cocsS = Gs RD 4 cits) aTmpedanee saith ear dmpet one blo i pea posstole fot Inreracrve: ccs) Ges) RCD 2 ted Res) eo? acs 2 fig, = at es) ® Canonfcal a Topotoqy// CLosed|-Loop Topology fe Comers controlleser) aonfisller amet cu) 9 Rs) > Reference Ap: cts) 3 @ntsotled ofp’ & peor Qs = > gg) 2 EB Srqnal ws * ra 3 eG) > Banos. a) gnel: Cconteoll er qe!) Syston - sign vs Qty = COX a) path ty. = EO) srqnal 4 = BC . ; vey = SEO ood hack path TF bap age acon] Ag in open L007 Se BO. 4s: Eu? 6 | aes = Qs HU) 5 osu Loop 4) ° enloop THe a Io None 2ntela tive coscacling & seca FF Oe es ee asqgerert C7 FE? Ee ee Rte 2 c= qlee) *» ie = GR: : aut oy te. TR OF > ier ta esto @ Nipference pd TE ond Quin’ . par yain- = wonst Gq -lo~? fosousd qe) {oi Conward: Path Goin Foadard path TF weana] = oue Loop @efn of ¢ -ve feedbak BR poster of @ positive PB syste. Mh Ve" Om mm om ee ee m HABA A Q2DLAMHRAKR SSTHSTHDSCHCHHSHOHSSCHSSSHOHOSHESTSHSOHSSOBOHSSOHOOCBOOE clatwie"oy? response of sysfem and chava ctemtifics > “pnt poe are noting tut Soolt of craraclel witec poly} mj al @ Standard daaracteristicr eq: ae) = dt GurHG) =0° Roots of 4S) = CLP: — ° foant chore eqn, we need Open Loop TP 9 2. HE + fey. i 7. 2 |e e re? Bayon TP [RE §. “ ase Method ga Zearye Daqiault eyalus [tor - ue CRB) GH * w= RGR Be GH: ® Bloce Diagram Kecoction Algerag :- element i x y. Blok, AG EP Omen Or © ® Adder: aay 5 @ TareOFf pe oo, Z 4 , mane 1. Siupt_an adder after a Block: C R4n)G: “i = RAE CG % + © C= RQtXG Do. = RG + XG: Q Rearraqe Two, adders‘ 2. tydo Ber BA pes MAY . 2 : oly A A my GR TR GN me em EM OM um mm hm a om RDN GAD A Mm ow om AQ ae w SSCSCeSEFTHESCHTHCECHOHVOFTHOSCHSst oeecoeasoHsOoHoeoHgas ove Ipc eng” Swapp e 2 Lee exty + BY 3. Srugting an adder off a taxe-off pofar:- A c= RK R 2 ee x coe 2Rak: x oF Rt CH=RIA Cx RIX: ace re WaGH dnd Method Rewaftfng tne question aq Figen ab tf f DBAHARRADRANARARRAARA Rm Me Dee nnn oR ae oi an em Wye ea 3) 4 Qe real o Thar ya Ta rant » = SOHKTHES OH HOHOHOOFPHOHCHHOVSHSSOSAPHSHOBOGHHHOHOOHE TG.Gon we 4 4 q € 4 a @ @ 4 € : 4 € € & g € € @ @ : é = € ary. iy 8 coh @ _ : > : « é Oo} : fal q ce RG- ‘ oie & = tees : - @ & S u a lyn 24 74h _ Vee ae oN DOHPHGHTHCSGE OTF SOSCHTCHOHSHOHHOOHOHSOHH9OC COOH BOO ~K— ttle am Gi4n . re Gee 3 OG a aeeanT i: Tega tind Gages Ha 14 Gage, Taare 1+GoH2 ee CG a 2 14 GaH2 (1+ ura) ie “Ye ee 4 € t ‘ « & € 4 ¢- é Qa ma mo & a en © e © e oO ° e © 9 ® ® ° 6 © © o ° ° ° e e ° e © e e e e ° ° 9 ° e e ® 0 1-41 4) — Gi aa as R Ea ae L, ic ow i} mae lee j yt yoy aay (a) wy = 1 Pong + Gels ere sfe, GWG—ey a Job HoH 34 H2Mg z ob me mm a me mM OE DN DO om se me aD a a & a @ BORO & & BO & CHOSSCHHHOHOHTHHOHHGHHHKTOYVDHEOHOHOFGHHHHOOHHHOEHA T= Sulla No: of O & R. © a Q |g Gee “ ‘ V+ GR 2 2 See | TR c mx Lm: a vy $e |__|} — ee Se aul = we te ee ee GaCryae Co a q Gatos ) ee Denon nafor 04% Unpsacker (41s eqn zemott gome ° a Gao Ge _ wae, OO RARRARAMRHRARALARAR ARAM AMR AMMA MMR Mm ann it © Re y tuaie 1 oc |__— ra y | gect4s aq ae Oe SHH Ry Lt ale) 41 Hen. Cn . © Re 2s 6)— J] LL ange] % =, G > J Canjaitte Ge. Le d= Gog Wah) So, tnaracrerfstices egn of O system Ps dings a a Pind the al agin of the 3{sfem + SHSSCCHECHOHHSHOHTEHSHOHNGSEHCHOTOHOHOSHAV9GSOHTESE Mn. consiaering Q. rt ge s-1) ‘ z - : y= G&D ; Gh) 0G ‘ 2 Gp, sea : : Gta ok SH < qa) = St1=0 4 On consiaering Roe ee < qtsy= 14 GHC) =O oO > J+ eee ee > cdo ~l=0 . > [StH =o] . : > @ 9 « 2 € @ € @ & . € {Pond the value ofc, SHOSTSHSHOHOCHSHHFCHHGHHAHHSCHHHSHRSSHBHHSHGOHE “ST Mo of TR ad = 3° ? Bio 2s, —-|_ 44 fe B=? Rye Bs a Nomeretoe sonelns ae Mig same Ra C4 qageHit - go, Ce HRT Ret RS Gu (eRe Het : Gyen ts +42 Mage oe ER seagull. 174) GH Motte. “= + =F Desrgn a blow fh Ge sude that the effech of Nolie!s yemoved {som tie sysyem responie- = — 1 Nope T+Graeh | : G—4196) Cae, Sy Re Tat ee QAI hanes Gg 76. te 0 Ee OT GH € q @ @ 4 € € é 4 @ € a € é hm SCOSOSCSSSHSHOHSHSHLOHCBEHSECHSEHKESHSHHSSHHVSCHOBRGHHE To make ire 3 Exthor of 2 =O » C14 Ge)> Oot + 4 Q2H -& But G0, G2 14 tig = 22 9 S20" S$ \-Gqc =O 2D) &qerl = Stgnal Elow 4 rapht- 8 aie Mason. : ton. 7 deals wfth 42} ie aphfeal ea eystem that ase dascrfbed im variable “of ie ene of se of Lfneat Aigetepte £9" cyst Fay Te chart, of a -Lnest oystent- ent chor of & Uneas. system aly, —Yomx ‘ear ! a + doan't F a te . het ¢eq. which. fs dsawn cons! Be BR gn InStial cond? are calle \, output follows stnput date dueqrant- —_ vee = Me, trdependent vaslane = % bats flows: Soran No, of volanla, = No- oF Nodes: Z © YY © Cptrech of the stra fle? o>? Ts eont{ae a y Win fog tin eqn: = dak << nals ohh rol q fet use Te a é ¢ > Y= metne (Geomeley vhas noHung 10 , seq) ‘ 3! * n nt quven SEq7 2 Hod ro torr Algensaid Ban. 5 eee pect f Var}a. é € € q ng os. Smeominge Oulgorg. ¢ de ronan bsanches daopendent variable: , ul ee sporty oY node with. algetaratc eq. ; je con heh nag test one éncomng brane : Ye rete ‘ @ a &Y ‘ q € eperett” - we ge kvi and Kel. edt pperenttal gn t40M Ku bygaut Sexe DT te foum tyneor, yin Z VPN A ve-ve D yqdst Ry ors vee LLo-b) ines ty tor leVo \ Var lable arile “pte te we Vee, vis independ ie ea 4 eR 0fe aepend W Apply eT I yes) = Ki) + 9 VC): ©) = “AL nic) + Ro Be uo. mu = aed 7 eee ned (EP tl wert v= 2.CL0op) ‘ q Shostatf fos. Bock dbagqrar nz 2 (FP) . bed, 4 9 &3 4 4 2 & | vt ss, ; R et : —H° Addilendl te 4 fan é ) WA ial be AkEM « © Mason Foamulé $- 4 a é PES = Pe rDu ‘ el A 4 = Pi 4 aot oA a = _ 4 Ke dpa, -- 777% (counter) Fe ne No of foaword paths: 4a Pus Gate oF Khe Poaward path. ” peferminant’ of the ape: A= Ley [son at nai] ; op lwop qauns @ a cop of two Mon @ 2 |. youd loop aun 4 — [cop of Brer @ Fouening - /90P joint] 2 toot TT e s endividual Lo é as ~ 1 [am of eoang 6 defined fos 2 sop of #50 non-food 6 portica lar-E-P ali [ et so not touring’ 6 i poe ete @ee00oe SOCoeHeoooseeoecevgovosesogooseeosoegeod Tenino) og fed '- __ I Node: 4 nade fr Seq repserent 2 variable of the cystem - No- of Reda ‘ts equa] to ne of system vaylables® 2 Input Node:- The node thal nos ony ootgeling brached 3. Oviput Node: The node thet has only EnuomPng brand thot connectT tha bip Noo no- node ts ropentet © Loop :-'Leop te 8 ciate) pate that_srarts_ond.ends on Aame ho ‘ot no nade te repealed: 4: Posward Path (RP):- “The pati. with the olp node St S® Non- tooching Wwops + Too 0% more PO of Wops are caih fo be mon foocneng they don't haye ony conimon node used to objein & ne Mase gamola. can be 5 ‘ere event vorlables thet ere atnso cl afeq vfth ip, OP madesy and eve not applicable: fos. le other variable - yo xendU on - no noed create, Hp node ay weil as ofp node rp uo} present to opp Mason formula How fo create ofp Node po! ene. be o tite Vo ® S- ‘pulndips? node 4- reference node: Ae i-[ttee J ‘ Cire teot~]- Considering f, fos Congiser Ve - ang Ve nee x st 7 Fe ac ro] “ps RE RQ —— 1-[Haym Fe % a apan +(e SER, * a = da, [-b) 2b - oul 93 a a a a a a a Dm MO hm mm HK HAAR G AA SCOOCHCHHOCHOHOCHOHHCHHOHHOTHOLCHSEHHHOHHHHHOHHDOOS 2 CoS Oxo a os > RAtt BAe # . eugali-o} + 4x42 0-07 Tae A Bat Pe Bo “TR a a S Ge(s-o1 + wee Lt ya earache) + Goer [e ALi 8) + Ue] & R ies ate] Ss 14] - (&) S. want. Fe Qe mse setian e~ qp node (omy ney Hp on node, Here, Mason's Posmila fs nod opplicotte ‘ ay there. 2: 4[p node: Mandng _y node. ony noel = Op ukaoing ) 2p node. onuy outgoing ) 4p Borr ineomingh .) neitrer Cp nor fp node- outqoiarg brach & Gb A NG A. MM sh & M My GA OH GD GW MH Mm MK wr ae SL HN ER ED AR me aR CHOHOHSSSHOHOSSKLSHHHSHOHSHHKHFHHOSHSSOCSHOSHGOOOE Z_apQs) + O0-0) = Crab =z Th) I bd Q Using ergebaaic 24? x= €y- 2 Gantt a b 4 ie R ‘pean. 6 Rel be DCCiebj) = Re >fe: 5] qe] e x . az pee exqpcarrde) ; 5 Ciba) = KCCt >) “ORY ebd c . Re draw equivalent Jorg Ph whe elt _teep i not pacseryy 2 i) an nen ant ont alt on) eet 7 Xe jxtayrhe: Ctonsider oni tH coming nods) =) xis] = ayth2 2 Kr aus h 7 9 REY tay? ——— ; : In electaical Njw and ity egofvatenf SFT shown . fn Jaqure: Find 4/42 & and H- @ € é € @ @ é € 4 é @ 6 € @ a 4 @ SCOHLCHCHHLHOHHOHOHHOHOHHHSHOHHHOHGHHOHOLSSHOHHOOOA see gx de J ‘i ve Ca > tes) SPQ%~ UT Catleat one Aheomrg node). Pre ica eu, dye troy Vo = t+ ; Ereetstca) NL eb VE = fres}z- (4-0)? 20° a we het ~ti2s +2235 0 3 fy (ata) = Ve tees: 2 = ve 4 23g, —O Gites) Cartes) S 1s Loop: SPA LP 5 ty aati — Cactidas*° 2) te Cert ta) axl) 2s = © 2) taCarpeqres) 2 +h 2: 5 f= 23 oh. Caxteete) vv Wo = 2th. & Analogy between Clectaical and Mechanical System - Nature, of CS! ) © Diectasca) Cved : © Netnontal Chri) ve. @ Hydaauls c Curqule) =P sess Proomart. car) eparator® 8 Thaymaf’ (Heat) — > Types of Electaical NiW: — | Types of Methauyee] oystem- Serles 3 i I WS ] P TArnslottenal Rotarfona) xh 5 VeIR fp Fosel®) wsquelT ) —tvIN— 5 Ve de a[P= avs ce 8, WK: Are ved fier “Taanslarfonal - Rotational 1 Mass: ; 2. 4. Inertta: Ao =] |e" E {a> (pom ae | (4) Teh | 2 Dashpot:/ Damper :Craicten) a —do—|t= 28, . Co 2 ficion FAV: ‘ LE 3 Toston Cs ga O» Spang (stigeness) * # i 76 | —do— Y= L e EXK ) paw . ak. > 8 ; : \ © atop: Oe appured- 4 F FTI M cal Mod Late of Rquib = Mothemati odelag Stale of Eq Som of all porenie} G3 Celene) som of ay) Force <0 CHechurtial) componet 2 EF -Em—Fg- Fee 0° EN ON at ; a ee eee AA M AD oH & @ a m SCVBCSHCESCCHSCEOHHCHOHNSSCHOHSOSOHOLOHOHHSEOHHODE Fe cio ee +k* FE) Translattonel - | —~ ese 5 AFA: : 2g ag $40 4 k6 [SRetatrond - REC NIA 3 hectey BEC NIA! > Make this Unto idly ite Saar and oader to athe ae Assoming Seles Ye Vi + Ve Ve aie x since, 5-98 |v= HR + agree Dd ye det WAL 2 Parallel Que NW : yo 3b (ver ys es Lf ve a Tuy alte cae adh Lo ya ® “Time Response Analysts ¢- ‘ € fe Time domain anay sf - See) —S Shock. ct , ud) —> posPtfon- - - . . ans tut) — vetochty » é C8 | Bute —> Acceleration: € € at wrt to Smnusotse] — . i _ ‘ a pat =) freq-domain onotystc : - Response Anotysy 1 done. fos. Staole systern. ‘ j jury to pendte shoey, Sonjutd? If BS the anil ; > Chotce of System: Is done ving oder of the 7 erat € — Oader of System = No. of poles: : — un. oader Of system > ut i Palertis. ‘ eerste (gar IsE-and oader: a 907. OF 9 “1 E Sout Mateod> ¢ accuracy: gin Joe \et-st-2"4 ob ond-andordep-- @ &) Time. Response AnaWsls of Ist Oader System.~ Ist Dadar Cledayed System. ae . We psefer tne byt osder syctem oy LPF w ft nos bo BU —— © Geld () —» Newsell) > fanelnd a : fai alont e 6@ @ we fee mereeceeeeccenseoorsececvess —37Cédntae] system 1” onausts also Mm paacttce B Preferred. yo be BA system Uke LOF- > I Bu will be Mah non effect of nafse wh be GNso Kigh-dub #0 nich Cf folls to track the comma cH . +e = (ag Ros) Rate RG Genel te a canst Cos enti) ey | Cw. 4 Ganalogout in Res) T45T: every ayshenr Py = : > ery) 2 $y i ; "pence se 9 4° Fae” * EGet ware, [T= Be | > Generalised [Srondaud Ish bade System PFN aT > | Ampolse Response: - fHerl- dw ‘Jrapolse Response gyttem dos crf bes sons tank TV onaole tro one tne ctable Sfstemt: HE faansieg | sae dup 4d that ays Fem can ead to Steady State - no + Twanslent Bb uncdertred bet unavoldable- psesent dua to sudden-{p- tug to Seddon range -4P- dus fo sroted energy in cystene components» , = Jew: as or ual / = Ai 7 penaviowl : Not apensone item 4R (Go)= + =A An tbo) =O -anteqrable: Stable sysbem - lf tre mpolse Response of & sysferq FS ansoultery Anfegrable 4 : | (lilt XO] ane system 1 Stable: v ——1 7 c ae Loot of Chor eqn = Crose Loop Pole + eo Fok. cubove system. hth ry cosval, Aen cLP. wat Ue of leqt {Tae of S- plone cup + $= ad y. 5 Fox D IR to he abcouskely Anpograsle. these} fos syom to be. table oll the oot Of 4 es nar ke Located a @vosé chap eq” 2: all the cose} top Pe in gt. £182 OF s-plone-. . oak ae : 1000 tystem To) rain that yarnal vows tr OnE He WE + o3tA ee oy aan a Bo om Bh hh Mm HL BY Mm ReARARA Q & SCHOSCHSSCHSCOHSSHSSSEHOGCHOSSHHSCHSHOOSHOFT HS HOOHTSEOSE In J-trme wonst 63% OF F ésy of 5 2 Se oj the 28 le Lrqui id Loveh Mantel 2 Heaying and cooling eal, Condi Honer- a Gleveros @ Impolse Kes ponte = A eH ue) 9 tS Step \ CO) = Tat ett) © rerm| neq and unit st cee 2 Ae ( to Response : 4 let Steoi Srok Clo) = O c Coc i. = Stapruity of a system con aby C3x1 he dots vitrng sspulle ape . exif A bound btgnet 2 Gep Canit dorermi ne, Nes E chanility. s0 unpolie ipaeger red ett sind Aanslenp nay dyed: teady ciate has Tea chef» Ha taken by Syspom +o KY 647, Ce. to atten 63% af bteady stot er. . Charmometer, tener C Ceo eee A in hot weber, tr 4 et hot tac the temp: OF weiter Unstontiy * , -&) ult) Chonge inp decane change the Spee of oF a system os we con see in Bon cose system adnieves 3% of SL So, Speed of Res onse and Sobuly_ of a system deen’ depend Lp -Lf depends only on, Sys comp. ° “Ti systeny Parameter: haps jo calaere porse parameter. = Respone Parameter: @ ty CDelay tre) sOFT + HM Stoqqesk- 3 5 tA i Ot, Crise timed = 227 zed: . ¢ » ba tai Stadt y ® & Csetcting rime) = *T ess (steady stat erras) 7 © 6 Kearaey- ‘ + ple , ¢ © ed “Cela Teme ) = : © _3.)007) é aimed = « BD ALMIEMME, Jog cy + 2987 a o7gOy. 7 237° ose 7 2257 C2507) 22D ty Csettl im . oe) 2) + folerante — 377. — +r qr 637 at > -6bY. oe ee ee + Delay Time which ts the.Measore Df Stuqgiahness b re Meawwre Of Sugg ishnds ty the tme taken, tha —Step- 43 pone Of a system 40 reach Soy og Sr final volte Starting fsom 0% . Srep Response so de ore the Hime taken by. by dar system Q- Une Time: . tp neath gor of final volte srortng aom, Oy. When cy stem rs dst oador ong ts the ragasule Of Speed of whe saystem’ 3 Settling Tmel- Time foten by the stepo response of whe rem to saad ond fo ray wane specified: tolerance 4 ws on and apo 4 a SUI of relative Sap fuity - 4. "ess’ (5H gale orrog)i- HTS the dafforene bpo dosired yale of the “Pedponse and pnal Votre are Pesponte + ego y-1s0 ot oF pe parol pies a rn aessiveal vaosired 0]P ~ Sapien at — Cte) \ Ke Abtoo eo oi of, Bre 3y stem o Sfeody syote !F TOS WN CL > Agr the aystems andor - > ass [8 & Measure of accuracy. —+ when aystemigs stebury then ony 2 Ateody Safe exroa- 7 SiS ESAO4 BD aie botn (|p srgra) a4 well ag systene e can Talk ot Fes Eo) Tra BLS) lees ~ Ro pep Piped yt ae Wreorverte 4° fn: = Qesponse. tute) kde COS TT 9d ad=¢t-TL- eA fo tly) = seporeh SS Rap. Tee. ‘ ‘ é | ee 4 Parabolic Response -Sutpeat ” te nh ‘ 6W)> TT a « ct: (2 Tle TU eH) us Sete) = Att) Ct) Ss = Tle-Ta-e ny). 4} vt esse se UF ete) 2 ete) aly) — CC" [2 eu = TlI-e -e%] J Jes > Yew = 7 vag panna Oy De tem. w ost onal row bar wy Ist ange fot telnet! and aleettion Trang ai AA AA ARAARHARKHRRANRMADRA A M A m & a a eeeeveooeoae 20680 ee 8 Gee 208008090086 e ® ® ood “TREN. of 2nd oades Systems v- + ak Se ecaa| + oc. Uw Q used Sopsess _ oscilayten: ce 2 28 Rey east { - = “ererseett Stendord 2nd oader qystem pve ye cos) wn . RU)” Et 2e,Wn st om fox ong osder system , 2 ha exporal ©) undampal €(zefa) eS Damping salto: wn N ve, 4e.eg: of Od Uafions- gystem are ose Lakory » wy ond. and vrghar oder 2 abt: steph of ave System - and we don't} talk buy we naoq to Supress > Sapa Wha. Osdaftons 2 Win ener jy 13 eA “yo athay storage + i osder systent every ex pelauetion rendaniay es > psacicall ¢4obU 2p moans Of & those oscldattor ¢ alied chanced from one sforape cloner omer System exh bits Hene nol stable Pi mese osctlasfors ove Killed merhantsm cated na. Cec ec damped. austen. ble ondamp ef System. eat Condn fo4 Ztq- 2nd Order Syspem)— ® co-eppieent of Sz ) rie can find aandun- @ ‘conse: £0 puumerafos = const 1 ® ox two pole ang #o 20ro + oh Whe —-_— de]. woreda 3 n= Ves yeast 4° C sted 2ewn ers @t0s- The = 8 (® wed 5 20S" ore : : wae ds &2 Oe rege eS op ern? fom ert ag: it pacd & Spores ) (ao ; . _ i (non Stand aud) $ = ict sects te (Stand ota) fh += Fa Kj ACS) =a ys 4 Ke ney | MEEK SO Sed ty 1) clonomnafor - ana @ Om mm @ € € € € é q € & ‘ see ere eee tere ee eeeee © Damping Methods '- qe): 6+ 2ewnst wn eee crore a leaone ing ae gs — awn wn P-L _ (Sian $C) . we can Vo} ony one of eand wn. ‘i keeping ony one eoratant * 0 <8<0 5 positive damping A a <.&XO 5 neqorive domping- te not ed because Paaertcatly ve, dempai ed opted noqattvely camped 4 20! system | @ @eort > Not Stoble- On = Tqwn}s 5 smaginast 2008 Sysrem]- @ o Mable cong Re torah \su2s asia & 1<@<0! overdamped _ eh enon anepol Syrbe Sarr = - —&ewn tn Ge! eae ~ bud tof Sado. OF s-planc- ‘alhon p. iB dppyed BS pu Ay stenv we fee wmpartsien among the a wee boy > jdhich one 1s pregerred ? ke ® ee const wn Lous! Wt Shpeme of RAE Fob onrgin D> IMcase of ever dompel one ble making the and © one pale mine Oh wre “T Large hoy Lange time wrt Be one dominant ie = go, Hus son me 6 slower{wht “tl be {sh AL system) ” Undanped system tS Mot Atable ® Gir 24 stem 4 (mpaaciia, ® eorex a st becomes tiga: due +0 ‘apminnsitl “rook. dete 'fO wpnich Speed and shability @ vere brome 1S Phe aly dat me a ® Time. const under gem donrenger dabe rt a a at won t ay pasate bw mpl ae ae GYood Senge of- & |oase t Here, &, on P System Posary ebey :- Response Roram log’ ay «Ar @& Kesponwe koramarsry of 2nq oraar sysrem:- Dts = Leo © ty (pean te) @O i= Ab 4 gerasee “ om ® Mp (Maxm ae ® o- 40> dm Peale overshoot] Oe = A — Rise Time of 2nd Oder System. ts defined os time Jaren by thep Aespanse Of kajsfem fo beach 100% of ma feral Pralue rfl O°/, 4 Pook Time (tp) !- 2a Time (tp): time ait steps Aeponse. Of the aysrem fo Aeath to peck aie 92 to Maxm value - [reg ynzoid D Maxima a> overshoofs An = even? Minima (os) undorshool ° j = - We Grr nunima = WA = Ae oe - [eeot= ag =| cince, [Net sa + ad | BY Oss Hoop oye > Fin ae BO Be Bw BL om QB DY BD MH a& a 28 9G Oe4 6 SeeSesseEsGe Oe CEooStooggeoevgvooegaee ser nee bd peak vollue the Aesponie and Final yale (0s) syeady Atafe valle Mp = CUp)~ clo) = Cttp) —4 3 unit Rep: p estes Gers eo ete step waht |p: J : =) itude «Change: Mp and @cs Change with ee 4 Be ee “hyp ud fon ez ype ad es. 22000) Mp id ‘orl Mp = clip) <2) xtoo |? Ne (No enapect O stomp — A een ae ae + 8 LIMP some same* unique wrt 4p —+ Mp 4g not onique bal “Je Mp. euniy! plitude - a vad Mp 44 normabised MP- pee y anit ep Np= & “tee? . Ae pete es ‘Mp’ sepasient Go. ad te reprenea “udn’ Os > A pee 0 ' Ato. MPO, a ond Bk Safty Sraptuty € "ee ond’ Mp ore vied to Aealite Relative ffobfdty + but 1 o preperred 2 fe & common. fos eves Orelere/é system - ‘ é Tes Begs te Oa te tO ‘ 8 (4 x2 . eax MG TPs i ae th 3 taste. MBTEMB tet 2 tins ty 5 toy Feu =? | f é Tr, —t toga» BER MaMa. z a ete tyxlu tyeta Sa $e). g e % Ub No ste-gorenotze- € ts. 4Ts At ‘ Ley tas €33 wn be -Vve a » Parsabolte Response '- ‘ AS -Oce = fe ew : rare, @ tr) = st) CO ; ear Gla toe Ak s ee [ Pt 24Wns ton at e a Bree ortega eee for ond os hygher onder aysrem Sor we app Pynal Valu Tore. ananae G SCH SSSHe SOE eoeorosee oon oeosg one ocescoseagse ° Ser less Lr ete) = PSEC] 2) Py Maren. (eS J G) : 1 —_— ty oe 1+ Gt HG) . P 44 $0, logs - SAG |= Foruntty Feedback D, fs= 2 el | sy cfemn- > oT - et) = 2M) CU) we Know, & Bay oe a rare B= Ca) tern ts found vstrg Oper smee, —> Hore, Oss ph Ch crose Wop mH sys Loop Transfer en. np ds (Non zusty Readme Bison 3g > ath L | _ter ft q Sg—| ase So, R place, _ “Hear A) OL TE. Conte) 2s ae ete of Mase - -Loep System énto oping a Hs a - 4 pore, HU)=) ‘ iit 144, ¢ > (4G) = 4 C250 | @x Sobtsack Nom {20m danoml- ‘ parlor fo teh OLTF - : DG(itstaged- é y whet 2 oye 1457 ‘ $$ q [ane = Ts = a g2.For, HO) #1, HG) and 6b) wil be, Separalel given a Qi TR = wn ¢ ey igs eo € @ HO) = von @ Gp EOS a 4 Te < st 4 4 7sti é @ Ste @ Spost 9° a a Note: IR nave no Steady stole nent so no analyst a FY skale. en and in teprucoidal atgnal of cea ai valua Hruoren. fs not OPP cable acy spate error + a no ste @e « eevrevreoooeo ovo oeoeono ose Pe oeteeteeses one Gy = 2 » @yG) = 1n™ Ist. Oader = ad = And oader: QAO on -Uu ot Ore -f gee Seg OwPIM He SE _ oy $ 90 4b TH. es 1-3 te wet 3 oye KE =e OW -BeAessl ses 8 Ae Sous ft, eh 2g sr ‘scg2auon) ; ee tty Oe, : + dese sx 9 ® wed th, ; a @ RO) = =e oF Ee ary , a ‘Serre type t, Oader-d typed Cee SEAAY : Jwoeps poles’ tvaarermuned ~ sjeady toe pore vem leper bas ‘yp signa ond Te is defined ou qoiat no-of pales ang wy ader of 2 tystent. defined Io. a type of aystenL ts ier of Fe ae 2 9 oder. Cant pe eer can be tlayermined only fore LIE [pg wpe s onder i Te desrthe eee rranstent benwieus” u vent behaviour a syom_1& used to dose fhe tarts ° ee r 3 apslemt Yeosed to dauibe sfeady araiie behaves of 4 cystert. 0 as (No pole ot oaigin) . * -O' 2 K C32 - Ype-0' GH) —s — a) Resye For C step AIP) cy #8 C8 So TERT. HAYS Poe! ree : e deep: If ~O GoD b) RW) = gE eSs= 2) = ess gk of ess | [ee 1% veouty emote, zo | tp | © 2 pasfronal "aoe fee erroas til ° ff we zal oO o | & T3 ze) OD a? Ws B Gun) 3 posPtfonal erfor corurant Ye § SqUHu) > vetod errox, constant Ke nk SHGQUHD 3 Aceoleration errs Lona AB ros, corutart © Steady stateo+) Starte en DC Gain @%) zoo fey, gam GO speady crate gain + To ger dc gain 5 pak seo on GF (cu be: Ge) > To gerade qn? Deo fecidue sneorem’LoL p< qui) ‘ @ é 4 @ ae aa e BR @ @ SCOHKSTSSCOHOHSTHOSCHGHHOHHHLHHHHHNHSAHHCEESHOBE 2 As type Ancreasel for Gm dertenses fox 4 partreulas 4p . go, a Ceura.cy ancreases buf AtobiUty docrestes- As, Quek 2 ge 3 Sraple- ke 2 Ss te3 “Morg: Stoble- , . 1 + fs UspsFobye ew ORE BH? I Hage secoméng vnttable 2) Sor"Hrgn Hype OF sytfen hes ead . > toy foa step UP 5 ess O 6 _. A Ge ae ° Beh = says a ppe=t 5 ess 8 a= ead (eames cite type <2 We e & one eps ara 7 o e : re ° v TR: eyes De Qomn =P é TRL = spay pe gan?” Feedba & not unity yer at eres Gno) ~ coe SB = + oy = ae 13+ 2 5 Pc Gain = Je? ‘ ‘ ‘ i he Taser’ Replace que): 49 § 1+ 40h) 3 § ess tt Sx RO ‘ cts) = se $ oes Ce : J E Gyn cy cor cine) ae) Sr! ae” Bo 4 2 ALD -ClE)* +S ‘ _ 3 est) (+S. ‘ fee hota | ; a eg 2. £_- : 740) EN ‘ € ete «+ te eo i. Likp: bet la Oe ; wpe GUM = Bom ® * : : € 4 Q eo I shea? 7 FF ROH Hon yo Game § 6 € Using Sinornal Expanst on = fe totes tht QPt- : 14 GOH) : 5 te = (lots aes ~~) RU) 7 wo = (ots IEF] a tae eps aye) = lout cle) 1A TE TO ° cof aon ‘ grange erro sete: : @ p no sostaych on” ry Wie [a= Boe | ea w SCoeecooosesovooogeaosonoveeHesegee des eoed 9. oLTR, quo) = tty (unity feedba) | Cyr Ce, ae te JK seo atk ond {ees S ay ele) ra sun) ®® * Seon | °o) * Sraont | Ate) = 243t bing the arate and dynarnle a . . dystern: fe stl Feedback > Greys 10_ SRS SCS41) Oss = a, Se} rue) = 243t° State PRADA ey sre 1+ to _ Sosa) - ae (2 25 : (24285 ‘ naynfe CAD4:— ett) = lon + Gree): | , x / oto (243) 4 OD) ONE oe a | box ° : ; = ¢, Fs) co oth tL__ = Sot os AY] O 1. = 0 BA yok on = Sad! ge) Ge 4. [Seve -: _ (asnegnatig “(23 TCE OP ~ Une) -axg_ = D4 |00 Hore - erpesitton on Gong Po re coplnent variable * ; a Chee p not app ited 2s they Go= eG t Re eg = 2S Gee R-Fr Dore Qi Det ae)= Ry Ra cerqit@4 pee sla 2 2 Boe 2 ~ Tugs) , a nog Changed Ante G - 67 ess = Ye ur 6 Get eS) | : [ SRO) — SReU%ets) qo above sm as é a @ & “Trans postation Delay ba) Lag Phose:- > Every paactieal conga) sy som have TD- & wif aaloy yet) = rea t ot ; ® te =) 2 fe) oa qu oft ‘ ae L t present pas Uy The unity. Appry & ——« Yo) .e% XOS . sm = 1-S 4 ite) ye 7 es 2 ins oer (eee rm |” [es se sa | on Appuging ETS you. ee x9) ME? Liste cred) toned” ~ _ Wh neo _ (ropsee) + SOTSGCHSCOFCHEHOHHOKRSHOSHHODOBEHOSLHOOBE Hpac et mare 0g trey depends on ©eoves —> Dus to TAonapostatton Mp 2 @ss temasns sume bur ty. 4, tp -@b inereode clus fo woh sy hen beeps slower and Lev -dtoble > In cage of hp unstable troogh GN = eR - 3 gy = 3+ Joep Ve Feedioack Ls Pacsent: =o Ueve feadba) gts) 2 S*42S43 20° - arate yt ST stole sqsrem: 2S onrP olay Guey= 3€ 2 oni OF sst2) a 3s) A~ SOF, qu). 14 EP 20 san) 4G) = Seas +3 =? Ae 2 oH 4g -6t3 =° = & 5S S-3) CE eo amount Of TeD, tho Aysfene may become RN O&O mM me oe mM Ra a m a SSOSBDEOSOCUHECOHOOGCHeOHBEHOPEFABSCHBG86G8O2G0 GE L-6 Date :- 24]o4 ]201: ® Forms of TE Foams of TeF (oLte/ CLP) Time: constant le- zero * Lon gat - Go GHG) = aes (oiezuto ) 10 aL gs) ou: PC qath e Om (Time eonsiant 7 a) foam / uonst © - +4 A pole oF cere abide. is gatd to be finite. ap tt coed norher at ouigin noe of12] alae au the i ale wonstan) f alte poled that wae 43 constant tho zoroest and vA re. ono eng Cott, . 230 COE Gut) = ea > hee HD ee owe Gar tn) 1g a * @s SD t As napore_of emponse dep Toys Natural Hme wonstent © — p J Zz

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