_— Reference. books ch zidh 2 Bry 2 AB Erubedlded Syne = fone Vabitl Chibrany) oh a ete: LT Re ; Gilera Ke: only Parag aS @_ “nated Tignes Onits [i Mbrocontrolles,_in 6S Wipte =| Onit L: Tntroduction to Embedded Syatern _ Enbedded! Slt . i electronic. spstembanpubing! eystene in | kik. hasdaane an srfeware is _embeckled within uz called _ embe bed system aed) ! Sh other As eee desktoa “comput: a destined. ee si teats ts igor) ud called ee oma + pape rwatscike te) “ Chavactenistite: oa = |S = Singly. BS po el Cee ce die 2 Pig Cface-rmaker , cokulator). [ k = Tifitly eanatraint Time specific) a Time, east, pewer porformance , size _ | EE Repivelionel Real tive (he i ig CHow_pwemaker 2 embecldled_s car m3) re lied 6 cantral. (aban heb ——_—_— a. an the Aumon bx i de hardware. and _seftwnre tabether ——____#he_correck tine ta send tlecfiu'ral pu =. cinantly mond aie ad _aastebs nbbook ea din norm he inl etnecl_.apstorass neLinble sft) and say. operating i). ae 2 as ra eo die ial hi ave _siGnale NS ape, o fo_and_ dilution «bean mule yy shich is> dinsicle tre chest and clase ty the Heart:> prautin of prema bee aor : _ their prices 2 co 2a © has diafion [ Beis rm Emloedeledl_Syatehn + Pte) asic] OF e ape aN E Cora ments a €S QO Fel Time Operating system Applicab'on S&fbware.- O Sroall Sease (\, 2-6 bit) (tessamplx) 4X ; ct m9} ty i S| bai Sade | Conplon (380% i a) ~~ a ‘swoually Canty % Ras:——_ Rarpase. + oD am nd nin | ond \ Representation. Ae a Data Communicabion pis . 4 uw) dete pecan —— tee est Be WY Menitori - v)_ Control. i Bs ie = a __omentastion 1 1 Common Jexié a ONRE cost ce Oanie 6 cos See twanitorn flo Unit Kaen io O70 oe coral BE designing System. @ oy. rae 4 Menor) CBrecuhion Kine of 6 ) 9 fe hoi % battery) 77E i On Time CA) = 1 QWs Wy and or Ca ¥ ieee 5. | Aoagod (Ag)= 1 LAW-D) w-0). tan 6 i = a ame he oa img Be | is iveentemlceia Ainememouys) ot _ By Mg lp = DU2WD). x oor: oh Peformance ; = D Lakeney (Total time gro stast to end) “ae” © et) & Companion of two pAatwoste, on Speed) Ww Anse puke CRake of succor pul sata tranomrssion _ ie i, oe ae — 4 7 “RY Tecknstafly. i ee— oP eee ee Pear circu dlesifned. 4a. oxecute...enackly One yaa are es aml. 5. lceslteator Lon poiphadie ao) eh on ‘he. components “needled 48 Be ER Prati: BA EL: “hack ee chip E E a + No poston memory fie a ;— ; .Se fae pict peaipie | 2 gs 2 S|) | ae eee | IL cee py a 5 i ALU a [date r Seas 1 ‘%. ee — prifiammable_proceasnt Spmitimized fpr a _parbiular cla an ; mon _Charactent sos + 2 twnprenuiodd befwarn OPP and SPP Paw Technotepy * , = » in™ which oli Gi pplemenkadion ub rrapped din an Te. r y r ; wae f 22) Semi f 2) Seni curtom CAC) “gy Mrabirarmable Upie Serie (PLD). | Oe ie ete tchnali th with. Pas c LI | f mM éBD ie Ps Da — | Castom. Single. fuxpose. Preexoe Cespp) design: __Prrocenor A dftol errouut ers to penfrone. cpl, ai er ts El — Sits capa eg lente - _ Tage. Le ee a OU EI et ce stdetttt and_saqu- RT ee 2 Gjive example eSool 5 Cophller: aol. fetpoti 1 ee me SE ee - ; exteenal cata ri be. A wis Processor: Conalier and Dadapakt iil he i ile = a oe iste ; m 5aE A pod omlex skate diagram:aerate lr | aalaies i ceiiheamaand i i rlEe | 2 Once the. campler. Stake, diagisarn has been olan, the. ____ functtonalitg 4 divided into a datapath and_contwllex. “Tea datapath consists of an “ankerconneckibnr. ge combinational and sequentiak components: + The conboller consists of pure Pom Conly lovolean actions and conditions). A Whab are the design taps of oreads -a_delipatn and ___| Cartnller fs hae He Ans - qhe_dakapakn uo euigned Husagh. we. Ste process \ Fivst, we create a ss pod dee Uo the example below, the vardalolee are x andl =| ee et a as an ew Ko We | crake wepiskor and wnneck it to_ol? we | so _domuis_inpuk and _oukpuk 4 ports eee elms Huse _pafickors ge Second, “tue create a fanchional amit for each arithme 3 ee intake dlafiram- Gn the ote thane are ee supbackions one Comparison im an and One fis Qaida i igh the Yorks, phd Aunckional ——jasniks . frr_each usvit ‘able , in the ae diafre b ago Hest Aron the. rh sm gource +p &(ndude _%-sel “and 9% —Ne4 —-g Nowy we have compleke a datapath - Thins, we can rerdi gmp a 12 A vepsesonting), (4) as controller The SM hax same as Mak of PSD - Kowowr, E replace complex actions and conditions. lag. Boolean tre 5 ag Ki = oo | 0,1 nto | Daroipain | eas Q.ge-i) < —Av-bit, 2x1 bi 1 3 ae Ad ; —+— rat ase jhe 7 7 a eae 4 q - os E - 5 HM Sen’ sulohen [blew Tes 5 | poenans | pie ee th te IES al Tees ewe - . + i a ae 0 A BC ha De i i x x z: D a lin 2G Ie =F ah Fy ] i Mane ru owe ) Un A‘ e ie - veo t).: We can then complete the controller dos/ | the 65M usin! cmp dosiffn debi hak npn (puts +o the __conballer in the state tuble. ence | eal hosifn Tools CAO) Apals ore wooed 4p aittbee fysfitee | _ cormboinabiona and soquuntias pic des! Dn - | Duin Syample Soaifn a CSP? tak Computes : f of 4ucy_humbers - $6 *~ seo Ans: _ Black box view! Tait =" a a | | Geojuce_| | | Fae Soko ip %i, yi te Aada o}P: d-o _ Contre! sigrale or ilp: 0-1 Nevin: oO | tae ‘ ge Heys St is p a oe A: while Ct go_j)- [check teyger CiGral) eo Ha Kj, aie 2 «= 84) 6 | 4 HME a _y3 Pe aay 211%) PS a) met S hike a ei mee vl) i oe ee—| TN Controle, [pat eae eg eee 83 \O2(6,) ot “Tay Pe ¥ ipkings (me cea : Sphinn — Ook itl Caan 6. Aokapat a © Ss Least© Cptimiaing esd : ; Saag stakes 7 >) Sepymabe a take. ¥ 7 O=bktxd¥e -B} aon MUCrOCOK: roy CE REIPD) a Oa EN a ss Sd Very High Speed Te Yarelusare. Beseription L Bua bia |e vhd 3st bit Cedtcatable ile). a> > Sodus ti standard lanfiuafes Cane. Ethem). wed 265 degen = Major defence x_n 1 Bros Law MDL is He) PBrromwable Qed| ES al 2 _alastroction hak doseribos_.a_systorn in bens of hak. its dees and how i6 bebawes « 4 Dt ee hove dake moves. Ahroube the Aagsker | + use contubsant soba eG a a mt —porailel as samn as data abrives el? aol D i to! et gs sequential statements are exeubed in the eq yon 0 the Ove_spacified- iit (Bing Gian ei Represents in tern of the components titer connection b — dvten Ahem. J Basic. Structure Of a MDL Cade,al awhiteetare behavior of ‘nand. Abe is a : o | Sus ee fea nand b;, | a end behoulwr 5 Se aes i’ : Constant: —> _A constant con have: 4 Nail Me~valued of a. Given ‘ype and cannot be. change aii _stmwlabon 4 cansdank uk declared ax a. -constank List of | arma constant: typel= inibal i value); ner in dome Ae eae ¥ ‘Sigel: Silk daira on a adhomelie ard bon be uaedaty —— Anke commen caonent. elements of peti — mselias. All Baka 5 . 2 Each ake ot feck ns a value. omnia be Bs. . 5 he ype nes the set of veluch. he the. Ob — can howe and the sek of Dy ee ea ables to it. x € teh Aafie. nte fan, flee time K wnhal Stakemenkes a fas ' r OS Hal,gohin of 0 ADL todas anaeteniged fics Se, WAT, CASE tone and servitivity ist (except whan ORT 4h _woed) , - ie creuded emg time a eifnal, in the sens tivity ‘aba’ PRocess Leen. list) vax.-name. [rong] Cis: initvah- cond”). a | aa | behawored model > NAND Gare: 2. °S ree 7 shal (ofle N64 au; 7 entity and fake. ist _ pare COobe in std “fie —f os Toh Ae owe Sted - Aap) noid 7 ee Tae end -no ere Pa g von ceckus Babi pie. | a a I| } | a a =| p * PE Mm pee | ives “exdclag M64 alls __ —_enbty_and-gate “is door, OU\=>). SEP shies. e 1 nob a fa map ina sba cae E> Cand yore in lin 2: in es lo ouk | + ork std — end ovfate - architedure behavior ol or-gube is laegin i Quek 1 4=.. mor in 25 1 end loehawor - ' _ Bebyviorah reprerentabion sf MOT gake —— {sg i LCM In skd ley" a be ald owk sat ee end nok- ee ae fueke ehowtoie of nok gale is foul OUbI Z =e ins é 5 — behuor:(P/F | (jj j falls) lalallalaSia eee Met a we TREE. sk sfc - “N64. Adie tah a y. . entiy ee agu. me ae ; Carlo: in Std-leh}'c 5 ne 4 6c 2 Ub std Lofl'e); i War. lenge toll Se ——larehibature Behavioural ef hale adder ve i, oe behy'n ; a ; - Xoy b c4= 4 avd b ___€nd_ behavioural: iM “ep madule Lg ; ! q ony ey is E Yt x15%% cin + in std laf'e ®. Sum, carry : ows std Lape 5 ” end Sus. adder, o Wnbecture etruckunat of, Pitladder ab Addor is io, i ae | “ane (aries ry 3 :pal lll | Ll luciana ile alll.a) AND gake + uti8e i _—.diloramny eae, Te bok woe {ee2 -akd-Lofh'e - MAY MR ey —lantih “andl. -gote 1 Tie 2 Osa pai In sed — lop’ e - as oa rt out std —lodr’e 5 ) 4 aa end _and-gaice ; mii ardhiteckure behawiox of and gate ts et i bjt , eri if ( gel and b=!) then aNd i 220; | endit., a . ee Ws, cmc 13 : i se SS In. Std—lefly’e ( = fa. re ie whe ff Ha odiil it ih ee hd aeel E be decoder é bus citar {eee he ___ une teen. shape WES ly t1' (eb oe Mag gob 2b" ate enbity SHB decoder is Lh —— pert Gts &21492 in sth fa Ya $ publ: std = ayy'es, end 348 decades 4 Avchicheckuie behavioral oh 345 deccdes Is arts Std Lage! “vector Co upto +) 5 ease Ais when 000” => Y- $Z= “\ 0000000”: ___ whan "00" 37 Y- $< = "01000000" whan “p10” 2) s Z= “0010 0000", | when*o1=7¥-§ Z= "00010000 when" "190" =N- $Z="n00p1 000%, when “101"=5 Y_ $=" 0b90100”, | When “to? Ys =" 000000107, | ASO 7, SES a "00000001", whan other $ > V- £42 "0000 0600", : | end cases . - if Co! and 2 ancl 62) ="\? ther as else ‘4= “' bun 0000”- = | F ee er TT hy bend wo ese, a onload; ~- a yew i aa.Be bik nfpilndecotoprne a Ubyary TEEE:, 4 i 7 we TEEE. sth lOc — 164 « ally, iit, Use TEEE.atat rar ON ‘all, aa a uoe TEEE.std - e —uneigned - ls hi POG i [ entiby com _\' | porte (ab. in std-Ufe, 7) 7m ago deb: Alb. out “std Lapis - end wn. aa H ___ortbvkeckure Bebowiora of com iS ‘ni , ‘pruotass Lolo) ' wie if fu >to) th x! ir , 7 at ea Taal 2k a eee | eb ae io! Lape ic ach uae | ache" WW by albé= j alee H Cad soe Pen saw - 9 Gor ion Blo <= 107, Oo <= ‘1sii iil ileal itl) |) \\.\ \\..\._\— Behavioral. Modeling) faith neat — 14) Frocess_ statement DN a ae B 7 Statement tt RE ee ©) Cave statement _ A) oop statements: eee 2) 2) Next and exit etatemente. 0 pee Wait ceintepen S| tie 1B 4) Null statement _ AataPlew Modeling, + Conewwent Statement bd) Conditimal: sonal statement. Cwhen... ebe) . 9) Selected ognal asignment 2 4X1 mux Anat Sate thro Tece- we _seee. S#-eplo_ Ne ats Prerh PPrPe " at — ‘ _en tity mx is pa C Jo, 4T2 Ta" in gtd_ veekor C9 clown to 0), $. in std_- Wile G doum te 03; 0: OU skd_Uadle_ veetor (4 downy to 6 end Mux, ml >» oe cei architecture behowor of MUX bain ee. pron CFT, 7, 45, oyend behavioral; 5 7 (== wing ulten .. elee) stmt: ae __archibeckure loebav of mox I's in | m4 0< = Io when 56= “00” glee o4= 31 when s="01” ewe | of=%Q2 when f="lo" ebe | O¢<= Ts when end betauioral ;: ge ese (22772722". “2 ving Aelected Aignak avsignment a arcnitechre belay of muy ts oie signal Aw mteper s 4 ‘ Wee ae eat } tl } Q i {17S O<= To when o, T_when |, 1 W rig Iz when Q Te wren 3; X' when othonrss ij a —_ehd behauiorah , ———_Olibaledhecdof off ff 12 Lcl | cb) ches lelaeashslaoahaa— Sequentiak Circuits: her example: _D- Slipfap hoa D- a oe ed cb. ee @ es ‘Le s dibrary seee ; 3 le tee ctdleph'e - G4 alls use work. aM, __| entity d 4f Is UE L tC dada-iin > chk: in Stal Wopie 5. port ( re ples : end AX, « ¢ architectusat behavioral. ef dp 1s 4 eis C dota-fns tk) | j a begin 77 EtG Vislgng edge Cele) er ig Celeewnk andik= "Vth dodge {= deka —in; ae ase. pi | bY Od 5 ioe —— One 7 Phunk: COPSe QD Ieee es | hlsgs _necopary tr solue the _4- -pit ol? vi Ja. b Yor a e bib jee clk and a PLE Ole Cie ~=2 A voroble — » abdurced to oneate, SNe ; “Oe igit ae Yoee ; Uoe vee. ud-lstyu ce 1164. au’ Lond a4 pork Cede? in sed digit. ows need Yange. O-to 9): 1 er all architecture behav counter 15 cout: prow Core Novialole- t{nteq ; ; begin temp 21 Fer range © tp 10, — if wring. edge Cae) than, a aoe tl if (Xemp = 19 9 then temp := 9: a ky = “atop 9 = “ie hemp; 4 = St eal , gs ssboll billed [ef sfeluluss|ce) tesla ean——Minrary ieee 5 122 iv eo ae | We_teee-std lage -164-all s ott — ul aa eB lentky | fii ie th Pk port Cel vebek as in skd—lofiie, K+ Ouk std_Upie)s Be end fem-_ reese avehibecture behavineal of fem is * © ws) LA Se e is CS05 $1, $g; $89 D3 a: ee == enomerated data type: |signal next-state » pr-state.+ stype s begin == Concurrent process |: stake req lector a _ Stake-veg* proves Clock, vesek) 1 begin i@ Cresee = ‘V) then pr-stake <= So, eet isin -edge Cele) then prs <= newt _Atake - endig, Foo. end prow; oid, =~ Conwrrent prow 2+ combinabbnat a comb- Lape : Ynoces Cprstabes a) 00 beatin rr ky Wd ee cy @) » ha =— We Case Stakements ih aii)oSy 19 9 ille) [elahelslels eelWe ieee Atel tefhio. Arith «alls, | ube wore cil y ___| ent of ts i tie a i Ceolky ast , iets atd-aflag a o: ouk urvigned CS down + too) mt Yai ie unsigned (Fel. C2ckoum 40) 3; end gests architecture: Asmnd, of ged is a 2 oe 1 Cask, ad _ type S-type ig ($0) $1,825 voud able Skype += So; Vorsabl e haa: 5 dees Yes unsigned (3. doumto 0) 5, leegin = initialization . ig Cast = 17) then i docs ee stake += Sa; dait mia) -edge Clk), er GGG Poe cane Atoke ays. ae | 8) when to: = = = Starhny aay i V7) Koeniii hl FL | lllChapter-+ Control Sys: fi> wifi ear is. wt deat a controller tho _trada the hal ‘eo cote aie a ceoks 40 make a -olP, track. a clesiyedl _referente ‘le iy are les \le. ) tak tee aif t { Spore Pain herent | Aime Ez — — 44 gacd one fge) rot, a1 gecd backing. a ie: the ded of, the Di seiong dink divs. > Termes tak contwotion. > Controlling? the oe as.eplanes- Open a Contwl 8 Aistwrbanee (of) 4 Ue =" Cac grad 0) Aik et TY plant Cautormobile > Gal « Susib & such that V approaches + Plant & Physical systern dank veeds to be controlled ¢. Aukonsebil| WO Conbwliers | Soxtem aed 2 eompake ae inpub + “sion _Ahok® the dusted O1P ouiteed 4aorns “the 4 @ Acwotor: _ Deice thok 6 wed to ehar control ‘he ‘|r the plant, __ stepper. motor “used to control the car’ _ Anette pesikion. i © Rehownes = SP The desired value thak we want to cco Ole, for example ‘he, desired Speed set by an Wiles driver =| Lz a @ ole. system ‘ : Fartieulax physical aspect that we are tr oD controlling) athe ef an automobile -Closed Li Q ug Te monitors the plaoe ate lbetwenh the flank o[P and she renee, input. “The. controller adfuote the Nant ile iw noe to erry. TRL Geak i voaley hs minimise this tracking errr given the ee Pemnstrniints sof thal Stan —Ristorboreg (ted — | pO = Yeevt ; Cirmad grade\ | Grrr detect | Ug Levsoitfe) G FLU 0! Plank Medel | — > a Veal Aayady y(t) rob ile Closed Lew ten proces same additional parts : | (DA senor measures the plant ole. ‘ : @ Pn ere detector dekemines the difference bekween the _plant ole and -he reference ile i@ b Kom pe: ie inf an oben Loop bondi crue vontroller and as aD a y-4: Assume the hwetng bt me 2 Waotte fpesition Lg ge fron 0-\45%. Vehicle moving) on flat suegace ak Go migh 5 throttle. sek ak ; 3, quickly change. iE to 40? anol walt + tyme unit: 4f eae =— wae amit therens Now measure the oped _ Z cos Is until Ae syle becomes aa mre cc Tee eee ——s |. ubins VE = curs es __ Ug = throttle pasition Ol Ve= Vas 04% B0+0: Oxo = 8s 3 eat we want +r we a sim az \i Y | ule) =e - 7 desined Aocad fe 4 2 Vere wa ae ‘ real tat fe dei oct Vet) = 0FVE+0-5 y, = OFWE+ OS p%. aoa. Le = Ve=y at stea i : ESse *:| nahin ovre. Fist, vont io i) 5 ann Two? ssa may arise: -s ___@) hak ie the Fanoient belhamooruhen chavo ____b) whak offect do disturbances have on tne Apter Now) The eq” repaoven ting! enbire 4 a Nga = O-4Ve 0-5 ¥ 0-6 Te 3 Magog = Orevt Ub= 0-6¥50= 630° - Nok voll Wold his porition. Ctrnottle) ontil %& eh aan. ; ime tt) | 0] \| alt 3 ]4 \sie z lio [Tn [re RTE5) BO | 29 [35.3] 3931] 4295 fas tcsn| ase 482a\ 484 4.1 49-40] 49-5 Assume ® car a from Ro bulles [hr to SOm|hy whore, oad grade t0% i Bi that ithe raf duke ‘ca j 50 ( — with O37). epme 10 getonda. “ tep- 4: Considoui’ disturbances genet Reating scar a pesfpement_ on rads _ i Sto" ‘ = 5 (downhill) to +5 Cup be st Wl ¢ ’ - the car. as fettbust ir ee O-FVE +0:SUb- WE Lani dth Bas = ‘into the easNea) = 0-3 Vt + 0-5 Up = Wt Assume a speed =No red = Yb Segieel iets Wo se OLE Vaks OnGUa Oe 4 | 2D ceNateeD Saga = Vg = OAM +S pI mp | =aoades 3. Vat18 pen Wo) +05 Pa=ia ] EP eye 10 300 | 2 0.ANG-+0FY05 pr O-4wo-4 96 = 9-3 V0+0-5 bie (6-H 41) — 207 vot lo44i) CoS Yo= Lop Vig = 0-38 Vo-t (oat ly gt i ) s5 T0441) (0.5 | Pro~ inno 2 ie eT TT Ni a re = Wo Wold, AA) Hin 4 erTo w | 8) Reith a chacod loop the aubmabile ‘ou covvtyuller. analy nip itt bahate.t And vosdous : Auabvons: nea Refer Nahid Contyo\ Sytem), ? leo ¥ ca BL llabion % veduiced — and gna canst ffoa Saree ut. oe Shake eyrgr ee Control System: Spi awe weir fe tracks ile. feet le eee Riso. Fema ep ori ce reach 307, drmelO 7s ac quired peo bh value. cock NOW Gal Ub the Sina value ee time firme pe pied gettle dtu in stead neo rejection: he ei We systens tv reject ands ved offs af le Pnckt on the sy NO sy | j= ‘ be= @ Reourness: “stability and . pes mance ef 4 “the _ contra Ap | es not : et apecked: by the I ete ASL LYT OS * psd ef» earyacd) ) eel eb a | Contratter._ Moai ‘eee ) VO Se ___Prapotiona| Comba lio (0) :- ee ae 7] | a 2s the Aunt ingutenic ip a Constant. Rae wore ey wwhare ¢ = bf Ve) La 1 fer exumple ] —} = _ Ney, =" COP or See ae Saree i : | nse Sas F rack ‘Se oe c “Dk ir coeg he c Adjusting *p _vesuited in Amdeoffs anvong: stnesc. conte jective: 5 ith cont pd) of bow 2. a Bir and_uice Versa.[A Chesed Loop Aubiebile Cruise Contlln po a bt) CRY BRO Ee “he speed _exroy can. be veduced Lenololina.. ovale sick fe. ec.” laces ct them 9 7: | To dakct speed enrors,. cpeedisemor can be. wed in | je vs TRD. i Plant Mode | — lc | AE | Cav mAs Veg) SOME + OSU — wo (iy. | Contya\ leas! Ug = iP «(ve sve)i ome Oe 7 2) Neti le cnA= 0-4 - DAL clued Lemp cystem controller eine - : a uae ate of decay ra ps | inital oped.) 9 a Pe ea tt) [i SSSR ile parameter P,- ithe contrel system - F can okter mr conver fen —__ |Wewerers tue al wake‘? Pe Ay: ng oe \vt-05e|>10, then — speed sill nak — ca ree" 8 | i 6 = 0-GPC 18 ar O-¢-0:5% >-\0 Et kick =|) = > P06 Moo 9-0-5 Z 0.3 0.4 2:4 i, 006 2h 63 SK. sam testes cate e944 dain 10% = 0-50 Sag -0:5° >= -0.4 f se \s4 | a se Ae re PDs j A K a ats SO) Veg vs a| ea trtales te Pues hyn Bd L a = frspabianal + Pnbebirat Cinthia Og & D 7 | dea Peer pale CT ai: 2) OT kecm Sums up the ect overtime. \ J lat increasbat’ the Legs fae et vot fi cores e3_to Sere. => Grave each desivecl 3[0 = ‘Nes will wot “be neached until '@ss 900 700 — We?’ Av control the _diskubance . 2 WweT b enue heady ate. conwrppuce.. and conwer fe lene le RS _ 4 Vea BAY § i dt) 7 —2,_ Th walyos e& P and are found Such sae the —— en siti tn ania eth oy CAO, aes ft = PID Contalion Bean: a . an Combine 2,5 and D conta awe Ue = fey + T (C+ O14 +O I+ DL Cee) + (er-€,)4 a $e) et aera ie Hh ful Ci +e achieve =5! flee wultten cu) Ue = Kex eer ki {edb + ej de id dte ol aaa id hoPID tuning) Eas Xo a where | ak nob A 00” Mol e_ plant 19 mob mi ees.._| the © ad Values 9 This has two advan : ___W/ dure swsded oe the. a a ol eh om US to yotke wal Wan ew We ve “a gu _*. ae chy! __msdel- hive tine or _tnowwled Gea 40 create S8XPID tuning “process: 1 i @ Seuhnf p= Some aya value @, D=\T=0 @ Trerense D starting |00 “tind rr ie D>10d> until wer seo seillotvo | Reduce 'D' by a Rely Qto4. W) Snereave ‘?? ae a osu \Jation overshoot , then reduce 1b a factor ©] Sacrease. _stavhing ie ea ts 0:01 and ofan bai Hiner exege've overt 10” can be chy aed aZn y BN escetal iasnes YAlaked to ones lone nee 7.0 Suan bi on. s J ii 4 a) 334 a 4 Dorey a ARV Wik a: ~~ —B Aliestingy st ) gly ede Web ook ie Co on Gola EL YB) io a Bonebris of Compuaker Contyel: AO) aie) 1 0 Cat, Reape , Reelueatoilty and. .¢¥ubility / _ © — © begrarnneii x ) _ ert upbinias, -y reppaammee » \} 7 036 ? a oo as O- Be. o- 9 xz x 0 “$0. N\A ‘0 a 6 Ge Never ending. 4:00 c PrOcwrs. 1. Mie is Quan tye ay . 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