+ Coploce trom: = } Lied) tape Fe teak L@= Vs ? a (15) > te a ae) = a 5 ea) # a¢et)= 1a (a) = € v AGoad)= a S =A. g L(toshed) >_$ Gn Pe ne oman & 26 > | RE Lee 4 I, — LEH) = Poa) RREShIfL ft 42 Alta) 5% fp Pee cco aly « cates) | Hetgr MEET) hat m4 | Musdplienlon prope = ; nit skp funedin £1(2F))- Fea 40) = 34409 /eceH0). iio) « 40, $ z } , Division. peopl. z as" (ned) : = &Y ace a a | b POL P AL eMrer aed) Jeon sud + (22) = [Feds i convolution. div spn (| Solving ODE Glifrendil eq) Z (ry) = sLC4)— S00) — y’CD]Zcoy)= sLCy) -yo) | Ph ee Geta ey) ~ 8° £4) = Sy) ~sy%0) = 90) |) ed = 50 -ve50 5 Pe ao fon oe (eeAOlata'(o) =O cm Cn ou) acy wapex + 5px +20) > 4 (Re) iy b4 |chuplelPD C CTOPICS > 53m) + 45% MOD 55 (mess) ARCS) = de toll dae a > mG) = it ee “§ “Torps As See es Pe tt mis ye Re ey CGH GSH)? Fe) incl cg i Beas e Av | Ae S GeO) + 660601) _ lip eneemeenderaal bi f sere , Ret SON Ve Plt Root Lea pene oe GCS? 454 8542) Sreneaen) b/4rO ) an rH equating. Coeft-> B+16/4 =O \ si a yes Selene a Steuloility. Anodlysls HO)> Boy = rer © faa? eS Advonee. ante Feed Back 4 D Alh)= bye (8 ee") +4(£¢") iene asst tees @) | Solved. OsGe dyed yet) = Ke 7) > GG) = YO ae #5 a®=A Ys)= bea = s we 1 3'76) ane” re 5th? JW = KPA Ci-e Ye) - Howe Input 112) =f (bdo Bio tan 22, of Rump input x(0)= at x reo: ie we (ar ee +c EH) ba eo et sn Cer S20 aie F¢es+l) al ard rulend ze dal) 24% dy ue 49) = ky ale) iz Na Gis) is) | | FR apis | 4+ 2645 Fr RtGs + ost Unit 5dep Input Al) = 1 Ke \ eS >» ¥6s)y- — ____. AS) = 5 d(itz’s aereee 620 on S* ify xiJ@V/e 451 —> wmelex > underdeump gar nen f= cei Heal b te 2 Rise Z>1—> weal —2 overclemep elles = cae g wher 120 2 WnF elle 2 T= ane pee.) odie S = oP Te tp = [# = 3 cons i & la | Ne | Nag 4& te tous ra » a -enfame Ta freq, CResporee) mee) = Aso raaldecta o> °F GCje)= xtly | quot « aa wy) = imerpinod 7 OFF Gj) B- &. (Se) a fea pooets of. Mies. AH order > Gls) = te (jo) > KP. & oahioneclise 4 kp Ciniotp) (BR = eee var | Ct eft) ae ps ie “Yem!Cvoe) 43* ORDER eas io and — Ge) 2 a r427est 1Se oe (dhexmomeder) )5*=1 Cz Vay (mixiog- proce ae Gel Level RE] C= P Yoo Chanting. proces) how 5002 Botvattons E mednods of sDuaonE dyn See Grdrolle > Ww THCRR Grama copabitence Toto outnst« of Ce) Heme) 1 Controller Time, rodel. we ester Gumnihion: fesporhend (FP) A= Bee a aatE ae te Ke a, = M% Ke feat ke maegpad (PI) X= Gt Kee +h fe — k (+4) £ derivative (PD) (= Br Kee + gy — ke Cis) p CPD) k= Ho Rea Ke (edd bodes Ke (thts 32) | kr= KA, & ko- kG : , Ta setpoint (devine vole) Tin meouwuing woricible T= lock weouetele € =Ta-Tm = ever 2 Y- revi puladed verricble » Ho 2 T= 0 2 change in. setpoint Ta > T)=0 , &&)~ Serwo- problem CATp=0 £ ye. P aa Regulatory feller (const sok pebst x chur i, . uel) 9 TKE)=05 GO= ‘aa TO). TL . a6) & TS). GG, TS [os «2 AF Gebe eG aL rs) Tis) = GeGeGr (TAS) + Gd_- 1) UF Gane REI 7 Gp GeO Gm aan aA. unit step chumge is made #r setpeink ag, ! Ee ae : Shy fime. teq” fot. h to necah, 607. ff aa = A da, | ' TiS) 4 OP Ge Om VE) TO) TK) > Top THO WG GEGcOp gO Assar 1 ore -, (022) 4 Hsp) At GrGeGram T+ o2fGeiy 9 SSeh2 — (5fA2)s4) hep= V5 (unih step chemge) 9 Wi b (chess) > \eplate, there | PRD= 0-6 oe th) hee) = o-let 2 h@)- oe = ONECIE aes 4 aan 36% min Like Wise Qsot - aa Ulimade, Viole Ay hues)sy alps cute od) J? boots ok numercitor 9 267004 G22) ANS= 22) denominators poles CAs Pi) © Tronstex Gumiien ~ G7 AS ; Gers) a waisocthalstie equation) > Real 2 VE (unstable), Real & “ve (ctalcle) y lomlen & yo eel peur kip Cmeorginel “sycuble) Krompler § ve Rect Zromplex Eve) Reok © Routh Pry» Proceduter AS find ext Choractestic equection- cee) tend > 1+ Cropen cee at F448 he: Ea Codeth tout), \ Bq = 002 — Aste 1 poles | Now four oh Ao On foe aw wole> 5” eee Fever dent) mA nr & B2 8 : i Sn = e wee pits 54 Ol ee Agate : Bi ok at sy st a check, 15% colwn. if all elements Cave 4 non-zero y oteble sys oh COGS tie ine yh tlt of Plame in tcolurm = eS 7008) ploWeel: SMG) = Gs) Hs). if nor of sign chem = (cer )2 wots oF denominedeor @) foot tows (A steps) 4) location | oF syste poles Cow qubbivep 6~ A Ke system 7@ woes Cenclivy point) > sep Loreution. oft A ee f cuymptotes ney @ AO" Qavgere a ae op 72 a 5 60 k=0 (Poles) © R= step 3 And no" ° angie of = ©, = Bvx) BO. rec tal a BT os area 4 envybosen bs 0, 2 {n= Sgserryretelt 65 \36>2089 218° step=4 Fie Sep Find telereckion of. ont hae ceok Ants 3-C@> rteedtparch of poles weak povuk of 2ere0ed n-™ Shep 6 Fink woot loot soiree || Foro srocuy Enom pole, do Zee ; ; a Total novo & yotes & ze y oo right section 1 ode 4 Ou 3 e L on cook lor 3 odd nook polen Szeru89 peawiss > > on not CN GEG cre, & orngle of. cormplen eerr0e- opts Ze siep-t> Aevgle, 0F ornple® P eee a \rdorsection op. cook foe width lmoupinergen Ong Sep -4 rout, oY epween. Alois Srp. ink Cockweet Civ malbol fir Bronk omy: po jgye) — Ns) dS ) = 0 to dnd a, Cs’ Jee OHS) = nO orca FF ane)- SED? tr _. Le ie lcecrle eroeeyy voltae: 0) ee —___iwbatw Seer yes #2) (+4 oe inbetweon ® poles 2» eumgte of wryrrrtedd GENS 66,\25300 i 4 (es (o-1-2- 4) — C3) _ =a, si aeele |, ie Gp Gp Grp» Yspy + res Gm Ge Grp oye | a ‘ SBE=) (servo) choge in load =O 3 T=-O a eit Ott b¢ Gop Li or steady Stee (Your- Ysp) 3 = a MER CRequbon) change i spc OD FTO 9 Bl = Ol mil ath steady stele Toh Yse) 4 Jsp-0 DS GL- ong oe o i CASCADE Contnol, System 2 mare’ + a Yoni? OF look ea y es 7? Ga= J Yn outer loop Steuvle x L fuer than Feel back sys8m Mad) | : 1+ Gio Rebeiler, Boiler dium, lewel Renken Concede control — > more, them 1 mecommement vouable CHewry see nos) £ only one. creel eS verriechle. ODE. plot eel WY) WQWe™ ye W> } Sei gto, Slope LRA ee slopes HPA Pale Dante Armpli tute Re | ens duction irr Got) B99, aaa | or 40) wae | a oD, 1 6 0 =40 \ JA rey ° oO oO ° a Ke e ee Canis fle a Acs j ; yoo, J G> ~\,u>% fe rie) “er ()a ere methods 2 founules properly & see some deruivetion from NEI ne Tog AR vs loge pole plate. CPraelom) AR—>1 (LFA) L wor? » yee oye) (ea) wet LER EMER neat ak egunere Greys @WT=1 dwWe= 4 ag & RR= VE = 0-TOF ¢ ex Ve : = tonlep> 40° g Boo CFA) Fs aon kw rot) / Plot = we BeAr B-~— Sy LAD yy ley Caer *LoyORD-— = nee ® — rick opening |Momas-metees gf pening cp A 1 C= ag | afy a4 @— Noeoor at é a +ayrsae Oe | \nferactiney> (5) Crees AR) Trerumornedee eae s yey (ew Me as ers ce Ak | oO” | oe) 4 ae hi ce — a system eine Seemclge, Paes Tremaben FocHon [Grate 3 PeYS Wags le Ue ete 8 melon | xu) > 75) yes) Ky step 4 Va ea) Irmpute $5) 4 Kp facessi) wef vise KobAtcesi) KeH-bT a] | Rates bo _Kehw <) . StnosivPstn sot fast ewe) “4g + AORe 4