IO Een the um of Sliding malQG. Orad block dia. OF mode Refyrnce Controller baseel fen reaching [o! | Agaphue Contre Schum & explain it. b> Reaching IS @ phase of sme i go la which Syste Veushl es steak => Bleck Schemae ee iS shen Tom that IniHal Conditions and He T mo! fea fo. sliding Suefece in the Refi Finite Hoes Dynomic behaviout of [Moree 5 { ¥ e Syskm dusing reaching phase wo valde y j e em governed by He Preaching Edt i Deal Brot ean Oe SCE); Phe Contes! [ow Mat ensuee y The moHm described by SCt) to gute. Feach SCE) Can be determined fran tt 5 the specitved reaching fstan forte] [Process oe Some of the used reaching |aws Tan loop. : oR. \ ~ v Constent rate reaching low, Tn this Scheme the clesized pesfarmonca SC) = ks Sign [SCHJ, ko07w, SRN GB eg is ll tea aS Constant plus Proportiana! rate | the Proce ofp idedly Should respend reaching [aw ie Oe Mae fS Composed of 9 Sct)=-Esw Sign CSCHJ-KSStEO ‘Joops - Fan loop is on os dinay kswyo, KSyo feedback loop. The OUHIPo p Co iS8 35 Powe tote reaching low poromelrs aa Len a ee 8 of ScH=-k]s (SCE) PslenCSceT, ke70 OH is minimized «The, model ofp oLxd| ' f Ge ay q Sekpoink fot the adjust sme design Lot getting reathing low -ment mechanim. Con be dene ase fotlow The key problem with MRAc ensured Ler SCE) =kRCE) be the Siting San rea rer ge can any ee euel aw r ° - Burkes ond sect ARC) + Butt) Mgr Fe rae talent 264, Ny syskm m Be site 5 dd = pede , where 2=4m-x pnened SC) =k eiCe) de Orde? = | ZECA ect) HBUCL Cu Je Ath) tleBuct) = 5 Cb) TS = sensitivity clesivolve of the I Foe Constont nate reaching low dd errok Laide respec fo the |e Ave CE) F RBuck) =~ kew SignCsctS] Conteotle Povo ea OY \keBucty= -kaxct)- ksw signees T= content fost deteuminy the UCHECK BT CkAxct) Eksw ada ptotg We SisnC Oct) The Mer nes con he regualed | ConStan 8 Prot 4 Q géedi Schum ferns meer pa Ponies! a ee ict Squard e47oe k Anect) # kBuct) =—ksw SignLscty] —ksse) uct) =CRBITCKA xct) t_ksw Sisn Cocky) + | kgsCtoy For rote reaching low, eAxct) + Bu ct)=-les [ockd|x sign Cs ct) Wick) =-CRBI-! Clea ct) HRs] Sc | so wae = E Re i ai © Scanned with oxen Scanerini Stele ond explain he lineot quadtehe reguabe problem. > Consider a Controllable S¥Skm With Stole 290 WCE) = Axct) HBy Ct), XCo)=20 The objective of infiorte . luration Lae 15 fo Kind: the Contra locedi~ Ct) So tuk the guadectic Perfor- MONCe one bdow 15 MinimM Sed. ot Tet) Ox ct) tu TCt) Ruck 5 pletct) ce) ) yo] where @ ond R are posiHve clefoile Cat least. positive Semidefloike Mmeabrica The , Soln~ of LOR Problem Con by obbained by Consideuing the mabr Hix eqn given aS, Pct) + O- pce) BRI BTPCHFPCCHAt foe infinite He LOR Pr a jie, Pct) =P = Constent malin and hence Pct) =0 Then the reduced matrix RICGH eqn become, AtTp+PA-PBRIBTP +e =0. | When meltin P is the Sihvation & Moy be non, unique, The mablx P TP non unique, then the select P Such thet pis posifive clefinle Phen }he Confrot low is, Ubck) = RIBT Precty t keve Suk of The opHmum Value of the pexferm— ante index IS, Tmio my Elia $ Coekct) Porctdt ~ (Hoxt poet) J? For LOR limzct) =o Ss Tin =!12. 27 Co) Pat Cot) oi) Sai See |- Ars —! -» tr slid Wk & Shott Note on the Dhonolls as used in Sliding Heot 5 ing node Conte! strakesy discantinous Switching inpub Cuso e)J is added fo the equ Contret CO to m unten e Eaicneont Shake gutface phe ‘Stolkthing Confoo} inpub is, Las Ct) = Fs Sism CSc] = —ksw 1 $ Ct 70 ©) S$¢4)=0 = fesw, Sc t0 Thuy switching input is He ideally q disemHnous fem infiniJe freq swltehing Zhe effe is. Hhab uoherver 1Sq8 im move | form siiding surface , His inpwk | foley Systm in Ehe oppesile diet) fo geht th on then guehateneiiaaam be Seen in phe siidin. of SMe as follows, an Thus fof i] Pe odes . aie round “cis olen Penal ers Fran this effect is Glled es phe chelleing - Er if Undeleob le effect. ond May Couse clomase to the. actuators the chattering jncreses with lnwedse 19 Suikhing gait gua: FH teduces with reduck'n is fegur but wlth Serifice oF the] po busined - The Chattering Con be reduced by replacing Sisn Pathe, in USWCE) bY Smoother fLacion Nae So[D, fenh Fo gat modified uswet) as, suet) = —Ksw Sat (Sct) uswet) Ss (S62) oR uswet) = — sw C tanh @se) | B © Scanned wth OMEN ScannerUnit- © GiiDese ey cr sah ri unalag 20 @. List out Phe Properties of the >The block dia. Shows the . Sliding model Contral . Schunalic of STR, 3 1¥ Sliding mode contre! is type Specifieahany wk of Variable Shruchure Syshmns. * Y ] ab Sliding mode Canfraf is a hish Controller Desisn Speed Switthing Feedback Contre. 84 Zp has jnhoront capability oF jsfutbence Vyechm and it is Ul Panenehay insenslive fo plant model misma peeealh -feh Cparoumeber uncerfeinly ) es 4) Th has Capability fo Stabilize > SypStem with desited clynomiss & Seat Contreller. Tt has ont undesitable prepel: pre HPolp. called chatterias which Save hraunful fo actuating devices. Set point a - Q. Explain the terms. oR ERoopacdie two foops iy sliding phase: Sliding mode is Pecluaue re ee pediaey methodelesy that elms to foree loop Consish Of Tecentive porome- bac Suskin ‘shots fo reach toe Ia acer Mrm en presen aetie cages Ube Os al NE ay Caleulahen block phe poromeler im Stoke Space and then remain the GaHimaloe. Conknausly gels Cente) of One Susface fot Sheble end ergs ara ssuslen WIP SUT eee Centre! F t eshmation of Syskm Cprocess) The Sliding Suface 1 0 hype Mode. Mosy [east Square meth- lance in, the Stake Space defined od 15 Used fot Finding modal” by Specific, €a9 phat systm's Parameters ove delemined they Stole frojectoty Should frojechey along 6 with desiged _ perform once Sahsfy pecificahins are Fe the i : Controtier clesisn Colewetan block 2) Reachins ie ith Meribel Him foe Caltedehns yew Contealler Ae Poet as a Daromebes Chub] Co)! in which fre Pernas iF eskmale Systm model ae stole aug the Sliding ond Peceledl si Pacote Parents suupace in Pt presence OF phe us ing (ns j that means Se untellen ue ser ee oie ies matically tums i Poromefer dlistubsntey with tre help of Hoe Sbtain “detived dynemie parcdyeley CODihd ORME 1 INSE is obfained Performance 19 Closed foop by the readcbiliky condition Tn the STR) he Controller é oremeker ond process paromeber cre e@SHmaled in reol Home . The CsHmabe are then used as if they equal fo He rue paromeler} thas parumelric, uncerfoni Het are not censiderd Hus poremetic uncerfoniHes are fet con Siclere! in the Controller desisn Ennerboop. | Scanned with KEN ScannerHere adoptive Control -Pxplain Adoption mechanisr 2? L-> Adaphve Control; Aciapki rol iS @ Specistized sata control. System designed fo adopt er adjust. Heir Porometers ond behoviour In real~Heame based on the chonses in the S exfeno) Epes on the Need of adaphve Control! linearized models depend Upon He SHad Chonges ie lineorized mode also changes He Changs 17 mode also chonse. phe fast Suitable Controlles Paramebker this adopho n mechonitm ay Most of the Syskm ore hme Yort at in nopure Hus tet ChoracherisHes Change with Hme to change in Choractrishet Fhe Sep of best Suitoble Controller Poromeber also change pis motyotes need of adopHon mechanism . Adoption M Mechanism Such as error pe ces CTSE, FAB, TTAF), Goin mosgin, phase marsin® In Case of errer performonce indices, Phe Bendion [S minimized wrt Confo}ler parameker fo gek thd: pew values in case off goin mosgin and phase margin He Controller jooromepen adjuskd . fo retain values of desired Sein phase ynarsin echanism', AdepHan iS Qn objeckve fun of adapHve Contre! What is gram + ; Conk —5 “Crain Scheduling (Scheduled Control engineering Heb deolS with Lehind gain Sched deptive Contal iS the Ceniro] Sed fe change Graney Hat Can adjust cere! fo chenge He contraller., pero Controller Poromeber automatically hus by measusing om iary Vonig-| in Syth_ a Wey thot jt Compen- bles (#18 possible fo prosrom ues for Fhe VouloHong je phe Schedule bre adaptation Mechooi- ChorackeriSHtS of the Syskm, S™ foe modifying Controller Adophvt Confrotles ore req. paremeber : for fwo mains as follows, The fig. beow block dia. of the 1y Most of the Sysiem are non Scheduling adephve Contre) linear nok ond hence the lineared modes ore ysed fo He designed linear Controller the Stak operaling Point formonce jndi-~ Q. Explain Gain Scheduting adeptir Contr] Shabesy WIth Proper block. dia . adopHve con ate basis Tilia ($ ay Under. spate cases homina) proces Csyslem) model is possible bo He megqsure Gn Cudiliory process of mode hat is Changes 19 proces) dynamics . These Vorisbles Can Le the Con be used Con Hel Ln many Adjustment Mechonism Cont Avsiilioxy id Mebsecment- p{centalie] [proce] Foner loop. lp the gain Scheduling adapHve Contest iS Composed Of fhe foo Joops The inner Joop iS On otdinery Feedback Contre} Joop » The oufer loop Consish of goin cdjuskn ent mechanism. the gan adjust en mechonism adjusF the Conhrt lee paromeper on He basis of the Quyllicey measurenin4 rn + © seanned with OMEN Sannewrite Sherk Hae on Mapping of s— s-Plaine Into 2Plane The Conlinuss Hee syskm Owe TePr-| Senred Aasing dvanstey Sunchon is S Hanes use of Computer as 0 conti-| olley make jne Syskm sampled data comrol and the signals invelted becom discrete “Hime signals using pulse transfers function” jy 2- Plome Thus 4h MapPING between s-plane and 2-plane beem eSsentiol ancol tne method is jerpulse Invayang technique where the elation belweem S- plane and 2-Plane is, 2=est where J and Z Are Com plex Variables] Ais per sampling Hheovern wT ¢ 7: Thus angof 2iSin tre Tange T1401 thot is otertt form above rabions the SePAng baween Sand Zpiane’ ean be discussed aS LEntive Leh half of Splance will be Tapped Into Inneys Past of oat avele In 2 ance 64 of t2lser ZBArmoginary arts SEENON Guill bp exeng oO} mores. ike meeps eta et 1 of S-Plan® wit! be of og, in _2-Plange. 670 \zl=eOT7) Neck diagram explon Yre of paale digit od contol civcle in Zplanc. BrEniire right hol mappliag Into outer Por ciyele Qywih Neat b Configuration system => m Functions of the different Subsystem Colecks) eas falows al = Syskm js seb to Perfor ‘he infesfed Lost to improve aeare or Fs fanchaning the Control Yyokm is employed, DMeasyring syskms - The Measuring Syskem ansisis of Semsov transducy, of measur the output of System O& SI9N@) Conditticing device to Convers we Sensor output Jato areroprite Voltage rang. [fste_ove ihe unite. ___ 7 —- QPExplain with Magram cores Pondence bet N the _priey SHIP In the S=Plone and de Unit Ciile 2-Plone: IP Explantinns- foy leSt half of So plane a tie tel for \maginary axis ¢=0, 121) hal? of s-plane 6) \21)4 e : 2-Plane fale for right Form the mapping the Stability Condit] jon Soy discrete Hme System can be Stated as, * i Etre sysiem is Stable if all its Poles le Insider the onit clycle + The syskm is marginally stable if Mon repeated cles ave on Hye Unlh cH While maining poles are insider Hne anit ciycle- of 2 The SYSKM 1S UNStable 1F any"the “Pole is outside Me civcle or vepedkd ale are he unit circle. 1B. Anolog to digitad Convebier Cade e— lade convestey Phe anolog vig Aud pat of measuring Syskm into digital Signal the accuracy and Yesolukion of ROC dePends Upon the Speed wporr of ADC and Number of bis, Succesive approximation Ave, flash ADC, Slanod~ ato Anc are the Commonly used ADCS in digital Coniyel Sy skem, 4)Dighol_Contvollerg— TA is She heor} 2 brain of dightod Control System tre Control agorithmis stored in Com pukka prictoconryelley In the form of Program User ditincd reference japuL (sek Polnt) and owput of ADC Ore applied to the Conivollex ag or it In AYSL compurcs the evFoT and ne Procesea jhe evroy to generate Convo! Signoi UCk) Which 1S a discret Fyne digital Signal. 5) Digtiad to analog converter (DACs - DAC Convers discreke Wore digtt ComATot S\gral UCK) Inte ComAYnous AWME anolog Signed ULE) Which is Yen apglied to Me SyStem » ACCU} ‘rory and Fesulut Of BAC 2 R-2R ladder Nekworkk DAC ore the Comm- only used PRCS IN Bigitad conta System, © Scanned with OKEN ScanerISP State Sionnowns “2 eee s Sampling Theovere AShanpons Gam : TA Baates Thal and only if she gee evency is at least twice AN the Maxi: Fre Component In the signal. ae Fs) 24m £3 Sarmpling Frequency Bp? Soorimmare Srequency in Me IGINOA Signal. sEftecl of undersampiing Caliasi ng) ee then aliasing occurs 2°} nfo q oo the ovigniod Signal is last oy icon signer ene in she econsty4 e@ Concept of li ee eleborated by doin Requensy AN AMaly/s as Fottowe 7 Ning Theoverm ¢ - Consider Qc, A . ONBHNUOUS time Signal LQ) with speetyuy vill -te cay ie’ a *Gw) ||Som pled to get nC) Yen 5-4 if frequee yesponse|_ “WM 0 Wen of «Ct)+ Ley us ConSidey these cade WS)2WM, ZWmM=AWM , BwWSCZWM caseL wWS)2uy - | Jeconstrachon process spl) Sampling Process$ a) Signal | Oe Ay QEXPIOIN Concept of ra pling and. } 3 40 Sample a and conver) jnto| placed to’ OCeSS Urcky} Sampling Process iS Continuous Hme signa disease Hone Sampler JS Sarmpie the Signol the PT He) ir 2(k1) Switch (Samples) —The Sampler Switch is closed afiey every Hme interval to get discrete hme Version of uct). the dime jokervi TiS KNOWN aS Sampling Perio The Process Can be explained by Following Figuyes) somtey x08 eee li Thus 1 Ct) =), ERT = 0, otherwise aReconstvachon processg — In Yeconstuchon process the hold device js placed Lo Convers giscrete =wS sem Oo wm ws ow Case-IT ws<2wnrg pores 3 XK Cejuy) SUS sum 8 Wm ws Tn Ye First wo Case the speotui is preseved of ter Sampling »rowever whenwsdiwm she seecttum 1S overlapping and imogmmetion is last, MAS Phenomenol af losing inform garon iis Calied as atising Fay Advaniages and disadvantages & | ORS of digital Contyol syste > rAdvamiages-ONIghad Condo Sys has beter Accuvacy AS Compased to COMINEUS Hime Condvol System The Speed of Gigital Conwell er is igney Hhan the Hme Controller. * Cej uy) . cou) Signal into Continuous Sime Signal the = Process 38 QS Shown below TWSOSOE-USE Yaw, OM WS wm re ack. Rae act) Case WSE2WM KXCESwW) uO Se a vite : Ty use, hold device is Zero The bommenly I cet eared ordey Hold LF Holds the vi GW Mae next Sample Comes - Th Converss diScyvet Hme signal Continuous Hme. Signol- i econsh uchHon The Figure below Shows ¥ rue ws + into oft rE for We figures of Sam pling and yecansdiuction ean be seen Anat the original Signal and reconstructed Stgnad are Not exctly the Some. This is due to low Sampling vate the accuracy of reconstruction can Incveased by intuesing Sampling Yate. @The Aigitol Contyolter is Grea fore Doise, Mhermol diffe ec. me digital Control Systems oye adel: Ree ee @ The Finite word lenattn of Compurer offeds Hoe Resfermancee @ Stabitity of System B co may be higher Than Cominous Hme Convo! Susiem Qlimisadions on Sampling tate may Tamper sysienr perfor mre NR is redued | © scanned with OnE Scanner— UNST-6L, ge = Q What iF Gilbert Test Fr observabiK VOX Cxct SUbSKiHY Albion mart o- PN. emPlain Same Following cate. |tVCheck For the compbete crate Noi ict dlsenvalues '- wistich of Comprallabi ty of the Sy ctor, gen) eo FNOAKC one the value on the dNagenal = Boe gS) SENS cane Fel Stet MOANA Hhod all owe the liCfernp. COMPEMAbIE then ComPutation of ~RigemVatue ave Hre Fultowiny Prep kis done through fllowing step prhes, Singular madvices have ers Ox ermine cloceel loop chorwactove-| Caemvalues . i AN OF given closect’ Ivor System: WEE B iF the square moAPedhen j4¢ gisen Pyie C6-Pi)CC-P2) C6-Pr det A=w iMod an eegenvalue of A. 9. int oe 3 “Fe a seodorr mmysHete oF madre) SOAK ST 3 HOt Stok € A Ie eigenualut ome nett |G setegt k=C kr Kea. -- Ka] 4 salve | \ackerencems, THIS entans Het IF | Goserminant Ist -A+BKIz0 +0 | | AN Whe CGemValue of a mmotrin — } \ e i | owe Hist ch ahen here cece oe SEN OU Ge Aniot SOND [Og igen Vector Pace of clum 4” Kew ky len = = Ky |Vedtow Which the Column oF mahi UJEAUate the Coeeffefent of equ) | belong Lal power of $\ tn both characte. | | dRePrared eigenvalues t— 25% 49 gekn eUcHon- | | Again we start With fal 2xe S18 oy Solve ta! eqn ty Jet ons Un lenawn Re An -O Ram Ase Ke: pote ee fe I Say am eigenucdue nm, 6F AIS Seas ees Grete TN Shane BERETS PH choractersttc eqn of Ain our Cale Contooltable ae as led Or Anis {5 a daadot'e £4 The | smangfer the System fro mai [Onl4 Possible cose fy When Ay if Jing tial stale lo any degir Avuble Leal Poot: Is kalein a Ani mierval of ime ae neeol +0 lad two lineorrly puoi the eL an UNtensholng | \odePenoken + Cyution. the 4s Control meatory MCE). OVWe Com get one colton tn jh Deh OR observa ily * Reyer Ui] [RSAUWOY! tek bein elfen SUS e RE ered SNAED shale NOU corresponding te ar, (Oo) can he delermined Mem TINS TS Fount by spiving the cyst THe obgesvad'on OF YCH) over Caer Maem © Qa Anite Hye inleaval, fo delineate | ‘ | Wis gives Soluten mye eM, ty the SAstem @) (© scanned with KEN SeaverQNIT-S]O}What iS ZOHY —y Zero oxdes hold 18 a device AKAN NExL Sample Comes. Thus TL converts discvehe Hme signal into Cominuous Hoe [Link]!s typical working is as San below, aU) (4) ye igput oogoud pag big ee pacer THUS HS Im oe |deevibed by po respece fan be g helt) = Bu -ate- ), 17 Sampling Transfer -funckon | | | Zero order hald x o 3 Prpproch= 1 i —. | qt Impulse Yespense and | | transfex ove boplace | | hranskex pair. | o-GoCs)= LL shott)3 tue hy Shot) = ud) -uCt=7) | Gna6= Lud) -u G-DF3 | : ee: Lfaa-0F “ST = - | = ire | Reproch— Consider & Sampler Bey |2era osdet Sysitm aS, crt) Tce Dee cra 98) The output of Zero Ys ae Wald can be obloinedd by Conydulion Sam as, | gtt)= ag Mckt) shold KI) FE Per) ta Kat) ansfornn beth sides Which holds discrete Hme signal }} _ whee, K> Toleng Taptace Ww y(s)= Ex eofe -St, ee = fare® askT = 2 i] eke Je es" | Unit- 6 4 Desive the expression of the ¢ equivalent Contest in Sliding mode! Controt — > To elabotake Phe Conceph Jer design SMe fot the SySkm © | us. With Steble model. RtABJ- poi CEE area ta & ee Ane ene in aaa is furhances Goncenbonit i ah ea ianinal Plont model Cuil Hout and distrubsna] J is, peck) = Axck) +BY Ce) : | | | | uncertani ty and Let, BR Ct) be the. Jwmped 2h R of je mele weer and diphowse Lmox be ee Upper Sond and He) Fee). Thus the system modd Can | be “represenfed aS, mecty=Axct) + Buct) +Bt Ce) Considee a linear Sfiding Surfaces, as Sct) =kxct) kts k2---kn JIS He Sliding SuaFace Poromeler mofix lex) =KCAxce) tBu ce) + BFC) =kAxct)tkBuct) tkBECE) The tum Sct) Is referred AS He Feaching low of He He , Seb) = equivalent Contre} iS obbained | by equoting Sct) IS Zero. Cansiaeting pomind Mode CHhot is| fer) = acoe leBueget) = ueqct) Axct) + kKBUegct)=0 ~KAR CL) -ckBy CRA © scanned with OMEN canner