Comp ensatar VAnel Controller: #4 G@upensatort poe taba as __ LE pent asumance of _a_2ya__uts__ mot upto __ ~ e expectation as per_desvucl _speuficotion hen —Seme_chang-ta._r0__ tra Syshemn_cok —kegtukeol to eta the desine perform = __saace Ths chamges_ com be tn thir hod ok aoljusiment” of eo Fauvanol path gain os Fexclboek garn On _-tnserhing — Compensot ——tbity i ( ronlrol system _callsol — the compen eat a __# Confiollex = on An automatic _caulrol YS. is —U cA fo mauat cura als 0p “wita wn _desiriodble Linails of centroh action. Any _oleutotion oF Ans orp frien the _suference riP_1s_olebce ——_tiol Ly —eroren—detecton dhe _ ? EUR tS usec #1 __am__owthucubing Signal Jorn conbo ction _Ahzaugh —a__conbcaller— Popes tele poe Compensoton ond _controblen ant _usecl to — a — Mnawatain the desviedl oP hy trans a Conapen s. gon Conbrol action unto the System a hs Sx 1iO —_*# iy GP System is Unstoble than —Compensotan on conteoMen Cam _anok th stable —#_TP the System eae tebol 1 é. _ th Compensetase.| on Conlnablen Com. eae Prometonk 45 {Sealey adohy porate as pa ten ju, + Ahonl, Beer Pe ros see nns ie Yu, a Outs). oh a GU (54291543) cl) 43r5) His) = 8? (euriiaea) Ko Sea eee vist a =i) | P0 contyallen use —] Posuosnel patina add — a = —— Star) 213) ALkpakas) __S4+ S52 + Kos + ic ie cael Compensation 2 + Conpen sohon Js Lam neh Futon Gs Miuieeaiiel Js used to ncaclifys _tidtomsiont: asi stsot | —2tob, ‘pexptrmamets of a. Sysberog__—— 4_! Compensatam adda _Finik Poles |¥exns nto te _ System TE AA [esl “vawall —1Y ee oe aS ee Stnuot Puke Asin taste) _* FE Singsaislal up is pzoutded to a resaeu Miu) and it phoduces the Shady, stak oy having pha Leacl — tnsct yp Signal Dhen His ni Vis caltiol a Lead Compensators __+ Yhe Lead = Comp Speed up the th onsieut ___Su¥.sPense da Quas ¢ sonata OF Systema Sk bidit + Lead Niur praurdes Que phase hesace yenoS— ——tba_dlomrnating From poles — ee as — Lead Compen sotan adds Finite 3-210 +(dominodting —_omdl_o_ Pind pole Ucse fective] umto thre SystemLea vod. _Comp. Wbeliuea 0a. eo hiigh Pase § ah Vols) = TE Vins] : Sze G3 oc Vo(s) = Ro Vin ee Ze Rik Sa22 8 No (8) = Ra Vinis) Z=0 X Reg eR te Re a et ese Chae Rye co Se, TF_= Vols) as If Vo(s) = R> vines) 1 Vin fs} Rot Reo a a u Vets) = R Vig s- pase — SCRith- TF = RT t+ Ric. s] ES ae fod eae SCA, Rot RotRy Ra cie Bas] Ta (Rite WP tt BiRaicys AishLc =Ric, \ Tr mien tad i Oistowe ee a = Gua! it 7. pen 2 3 = a. irene Cale SS | : Z a cr on oe — a2 Ne (yeduce goin) -ollenutakion Wa os Sites of {Lean O1p come Ld co [te= Irs oe [4 2s ease e Te St Rede: plot oy ae ee o dBidec= stone! wr ton!w dia Old max =0 “do T = 4T =o | +(wr)* IH ea) = T Ett (atw)*] -d Tt twry2] =0 E+ ATw)* -d-d wor)? =O A lwoy@ Tig] = 1g ~Aleogir= y z Wrst ATE a zi) pg | max jatar al ; tomax = Wi x Ww. r z 7 U)®max= 2 oy ae _ nme St sual ; ITT See. et Pr tow! tox! @ . AZ : Jac race Stan" y= tam I ;22 fos = VV gt eee : = Are _ 7 Alice Spee ee ax D may | ft Tr = t+st oa LtS8xs, > HPF ~>_|Sin dmax = \-¢ Ymax = Sine! [r-4 ie Ezy > Wma = Wy - We Lomax = Jj, = xT . | zP Tic oP 7 Sinwt Niu Sin wot +0) | © System becomes : “Faster Cdynamicgh a : © tuse +, ts ¥ _ 7 © Make system foster O_ Q Wp 0 truise _turctuiee —_____ © _Signof___suduces __ O ts seduce noise —O__ BW yrowa _@ Make Sys amon Stable Sa i Hes) b ~E Phase log Compensatox ee ‘= eae Speco its epplital dao Sistema fe Opp oF the ystem possea pha a9 fiat | . then the System 4 LAC: compensation | | nl Cora pemsak u Lag ComO pacwicles Que pha : |. Dangle | o the fag Lemp Ww ee cone finite pale tad Pro-ZO1O (ess donned) ‘Tt oots a Clow pass Pilter LAG — Low L ex LB | & ; ° - t 15 S20 oP 2 High : Ra frS= oop - low Vins] sey Si Vals || ee eo. = bYin = Vols] High ze — = —— bVin = Rr Vols]_loe Rit ReVets] = aS L_]_ Vins] scp Rit Rat 2 Sc2 Waiene Re Ces a) cit = her | , Rol Rit@r)Co S41 Mitt, > RE Re. Ta 7 TE= tise = Leg +ime Constant ieee a Spe —S2 = 5 - ec Comes td a |System becamer slous + twu'se naonasea ao selleliing _wncrnaser : Bw svduce | Signa Ancnra Te Ove Arg. : —| Ove Angle | Goro “dominant | __ Pole _dlomaimeait? —— $01.9 meon_to _ongdn ) one Away From — Beno ausay From —Mmoance T Bot. Ss N re IT . Ad ate IN ASe 4 Ry Rv ie, Stn p, = ad Pare ant Lomaxs Tore = Jat wet Fost: douse ts oo: wat. o i. ). Shoallaty tT Lx omsiemt — pexor-|. ee Q— Kh Wese ' As Lp re oor Sh mee ® tomags Siw, >t pLOR bce) ge Stalitety Steady State performance +yi 20k { Sate =I alt =t -} dt, Ty > BT,Cont voller 1 Wi) ue AR oy “i bu | : | yelen} Wt” ON Onin) | Nol otlag Signal a “Sypesof — Combooltor O. Proportionad Condurofferr LP) OD vuvalsve ConbioMere (0) = OQ InLegrod. ConPeollerr (1) 9. Proportional — dwuvodue controller (P02) & Proparttamod suk opto conbroMes (Pt) © Aropossianal. Ya. eto.) PL Poivolive conbrolterr (Pip) +4 . @) Proposikanol Controller 2 a. Oicts) = Fp Pfs) x Ets) Pris) Vp hls) ‘ [ Grets)- vel — ~ Used to Lory the. dbeamsient- JOsPONSe of - 9. i 2A ore", [ 2. Peis Grapihiot calla Fama Kp >» Gite) Vp. CE. so? bBs Kp £0 S548) con » |Kp com | Ded ae! | ved Lip ‘alten value 4 ee of KP° 13n P= Cont the ceclisaling Byool i isi oy — Tonal Aeron “er fT "A ae ee eu et ee . —§— Tetahs_ ern Sepa tl of Sateen He at we _umouase kp, athe Ess dlecrrases _| it f onthe. _Scume time § ofso ob otoses yh, A i El Cousea Os ciMotiom— a oo 3 oor | x = os Propéibia Pp =P op Lore “eo oes foe SLE Sencuel rman 2 e 8 loo Te com! + olimenote: Ess Cora pletely ole _@l Integual ¢ 2 t= - if pit) fettrdt _—& Pls) & Eps) ae Pcs) = Ky E vs) Ss fit [Gees = Kr ~S + In I - cont. “a 2 chu okin Sig nol is propotio” a of? the ewies Signal(owe a. | Ouer 9 BLAU by ep Bea heno 7 » 4 * nb Similan to Leer Comp emsalor High poss Filter : = Chfect of PD —conduollon— ue “Tmproves_ampun ti. Bemeluziellh inowares pulse dime seduces ancl ___ Speeal_ bon tnouases and hence — Luan sient _____Hespense is impStoved Lid Improw Gm, PM _—_liv)_Neise emten ox high frug. a lw fossibly — SU Qui 0 attain Sorge cupaci tg tom tn Curcuil —Ofs vaxdional at + inkegial os ee “chi” Giees) = Ke + ee koe Ss 4 It adds the - advantages of eee —___ te Contirallenws te add — pole at O21ipim -amal tive —9 agenes —___ @u_ad a ne a eas pele and other — Zoro will Unouase flo StabilitySe oe : : cue omol to snoruases the stays