Scribd
Upload
2 views78 pages

Control System Notes (Plot)

The document appears to be a technical paper discussing various aspects of control systems, including error analysis, transfer functions, and system stability. It includes mathematical expressions, system responses, and gain-phase margin calculations. The content is fragmented and contains numerous equations and references to system dynamics.

Uploaded by

mdarsani2007
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
2 views78 pages

Control System Notes (Plot)

The document appears to be a technical paper discussing various aspects of control systems, including error analysis, transfer functions, and system stability. It includes mathematical expressions, system responses, and gain-phase margin calculations. The content is fragmented and contains numerous equations and references to system dynamics.

Uploaded by

mdarsani2007
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
Map -7USLLN Parction, pop . Gb) = FOStZ) (8t+2) (5429. CStF)OStP2 (548). fy) - f . Cth isthyisths)- - a Fans PR wa (ras) Har ANI). + Foes : Gr2y. . 4) TeeePur Zs) = Cth Ost a PS — i SEH ASIC). tO TIE® a ise] Py)(StPs). - - , #. CrAycst ha) eI £70 festhytst Ayer FfaPe Gs = ad iat 18 ERROR ~THBLE where, « Ke > position faror. = bin 66) S70. # k, @ velocity Enor. 2 sins Gs) S70 “tp 2 * Ky > Neceleration Grror > hin sibs) i ig Dr ne J Pim ° en ii), For Un x J) Detcumine Heady state Gror constants rr ype. following, \ / »@ Aystem - ti) For Po A When Dywanre ah Dynan Gb) = 8 -e€@ 5012) “Ks It Gb, = tin —2— =f Hh one” coo ay +8) 2 “ke lms SE Be x, v Pes GG) = Sn, “yah = - A 7s g © lim as 970 SAD 570 Sa “Sasaya zn) ye steady sabe Lrors for unit ~ step, unit -romp + epi UMMA IMLS Ise debermine iP ete % guess ad gon “gunn aysten ® a type-2 system he = Im bo) He sop OM = “hy lis qs) lm, —+__ a 570 (aisti([Link]) Ka = lim 8b) - 0 S70 |) Unit- hp, i) Fr unis Kaimy,, ss = ée = A for patabolie. , , 5 Helen att he Bie ane gir , the Or wil be oo Tune Geer = : " ey Cyn ak ro Zr@+ dP Oa GI tr + Brat gre &t-> Enor ak any time ‘8 > Mpws in tine -dorneln ganbs Saag iy on, Dye: S000 ON Prblin : 9 Bact: Me dptanie Bor sng aly saple the syston hin ject an tpg ge Lint 6 > ort +o 62 5 4 M* Polpaming zt HtM, ay . __t0 Solsty TORI = - PATE: 2-08-24, 1 s). s 1 al) Foe & {4} { 7a |e, [ Kaas L_ _ 70 teluce the * + tre Cons tank og 29. a9Pf Sit ’- Losec Joop by toe ? ~~ Wes ak compat + Pur- lap te oper ~ loap spin 2 ne veansfer fubetion ak)? Fag te Ss a "7, Dire laplace Wonsfol e V0 a Gio- %e Pd Comparhg with great equation . Q -x oe goar= ne Elo] open lop > € o, Gi fme consrong QF cheat oop He) = Banger furekion (rls) He, the Toke Ctbes - (ro 1 * Joka 10108 + (oka 4 Uttos (FOS AB) = oka ToS ¢loKa. fl S pe S25 gh cen fr, Gb) = y* 57 t 2B 048 tOK* 5%, 28, = z| geo 7 Unden dined. L JM ae 6 . Sy 205 tB Of Bw = (3% \=6 redls FSi, = 2D Sey, 210 F- # ay SHISHA YF = 49 oz £GWn = 7 Se 7 ne a7 * £08 a @rlstHs) [f= 28] > Cen clamp pol ys sik i “ 1 pitd of om: — sto “velocity Bar constans x 0 pes kya a er S205 B eetA sa} conyplrhg wt “ag ASU : ! P ws RXO- by > fit SCH) Hs a Que ree Hs) f000 = tim.g,_100 her 69 d Detesymi ps S70 gest) so ooo = jim | (to-ttgs}1° 570 sto don: Ce)too pe omo® wt 4 B be ot ante f° Trane @ ols) = ' + 100 pt S510) OF tp) 2p t+ 102 (wor ks) nid 05) sist) 4 100 (0043) =o HOS + 10000 + 1dKgs =o 3° S04 100k>) +/0000 =0 aypatitg with genemk gn . 8+ 2GUHS +O,? =0 PEt, = lOt100% RXO5KI00 = 10 +100 J00-10 = }00 kp PRE: 13 (03/2 | Debrmine cynamec Gnor cidffcienss for rhe Rllowing eystrn, 70. oT &) t, ,| ee ad ay Gt wir) - aor ie sg Wt Ri te) Dihitite series expansion ary" He 2= 203 = PHL E eh rT? Rs) ae Ftp) es Nie fe a) +97 -4 18 ia) 4706 ib) + 3/ fe. = (i) * (8) nis Onptig with qenerah equation, gay _ — +pstests ys &=il Ro et BOR aE Ky > tl 12.1 (12! (@) B= -/331 = 64s resyle 2 B-7 (Ap =? fie fest eb 4. Gif; - d. a GY -# A ((g)- J Bg Amat ° tems are considered . a _ Ut re we 0 | © soisrD | | @- map’ po | B+ Tra +a * 109 | Ro) . SSH) SU0151) 479 . A / B. - See 2 014) fo fi) — an*+st [ir aust | ag ae JRO piety, at +) ost) a = (Aes Lz, ey (“8% es}? ( fo wo / s 2 > 1-/a1ss ie Ce : gi, sesiple _ syatseypofir exhe]" ia) ae pee ee 70 a. qana} e “f wm ale” 3 3 7 als, s _aois* 2 OS. GIS” = lo” 0 g® gk gh 2 ss tists? Books. Pos ie “3 oa fo if chs Lag Bo « oe a ih So fg) * ? oe. - a ke) = Zé RG) y’ ae ey = ty here, Med = MoAb + core c a FU = at Agt ? pftse _ 4) ts z 4. Bans [G5 g. wes™ pnp - per pore: 20 osing |g. PO” |p Subs =jd im trangen function. phigex6 A. Find separate. epuations yor magnitude ard Phare ary, | prept in fhe LAH Ons . J). Sie vevias valiues og 2 th Bee’ PERN @ for a 2 Diaw the polan -pot, ad Gs) = Ze stst) ~~ N Bh Glo) > —2 Sb Saja, vq) ¥ Phate, \ Mw) = lo i 7 5‘ 0 = -70'— tan Ye) oleh t ple) = —20°— tan(e) oY when * > 9 O=9 3 HliP= 0 , bl) = -99" | Sane Ae : | Wi B= al MM=.5 , Bia) =-95.7' 7? Mi), Dz OR? Mle) = HOR | dew) -19},3° YO= 2 3 Hie) 2077 Kw)» ries: wees Y.O= 2g /Hlp) = 2.2% + Aloo) =~ pBBY" a Fes WW=p0 :M zo. | dt . -/go° 2TOl = Bre +. wt Peguaney cay)” margin Coun) ” tony ¢ FY = ar Qt SS [ELLY RELIES Sreccremous :- GAM! ~ RAS OVER PREQUEL + 2 > Prguy lose-of Megierey ah which gitn epeat te 4. (ods) g phase SSN Acguency ceep) . = 4g Guin - Margin Cor) ly phase -rexgin Cer) y ganda . (Bri) 4 kesmards Frequency (ay) (éaieg |B EA | phage. Oman Freguency :. (up) ze angie,» Aepllenay ab Which phase ange is 180 . Blara stalte. aystem , (iain - margin aa. phase - margin ame Positive. zs | Gain Hangin * “GM= —1_ = ~- 70 10g Hlidp) Mwy) | phate — Mavegin gan“ Uio) | “po = (80 + $y). | Bandwidth . > aror tines the Fad vale = he MeMeeny S dagion os barsdittts POBUeny (a) Bobe-eLT’- Ze Gb) = a so. ‘ wnt Indevidak compopners . + Decomposing ‘ t ke Gh Thgnerk, ¢, 1, os” osezy , 7 ea, s* (Sth) C3 28,5 4343) + Gz O*+ 28 ttn 34 tp?) Aus’ Oftcal Fegueny ab which rhe gain of the ayctom 3). PLE “ wey Aah. . FERS: Orbical Fregueny as Which the gain of the tykter a fs Vey low. w lked CHly with time constars ygrm } SF gays F __ Str sh) 2 Suk 3s =ft0 ~ Gh) = —K __ LO(t+ soy) Cas MH, we f Gl jw) > 2k Hofrt JZ. &) pole ae ongin . : Whe factors we, x, ae wig Mn plificn Le poe ak w& pen? in HB? i “ial,, = ates |-———_ [ls = # lage] * 20 lak - 7 pe 829" Cry) re Mle) = x +o Se IN - edeldes Hue), . ~A0logd | s = 4 ple Be OC, we) @, Mad) = —* uel: W = (aa =-(1y an (274) * Plage - margin, pa = [80+ py) = 180 + €130) r -H06 trv the LoMaWwih@ funck PRB: 22 7, pre pole plots of me pollowing systons ane, 304] gan Meatgin and phate Margin 1 © Bug BE 4 she - ub 5 =f ‘ il) = P BG) * Gerson) (Me) - —_———_—, ° ie GD ae Bio) © 1 5) t Spa epee or oD) Hla) = => tui liy Gi) =e ait B) (8) ‘ T =. | [oo fe 5 lo oo | ] | 1a) fea laa laos | grew! 9 {J | | 78) \-18¢ | -| : 4 |) | 0 “62° | -/60 -193 | -270 » Pha L | — al Gi 4 flase cuss 012 Fraukny, Wp = gradis = G Gar hag - —" = fool] [ou] . LEE LIE bw) = ie =o taney —— ea 14, 2 “the |p ae fo) 0 24 2.399 | 0.186 | 2.00071 49)| -pas7 |-ISI | 182 38° | 18457" | 228° | a7" Phake cross -01e% ean wp = o mdds. a Gain - Margin i ° * Gain - 07085 01 POY gate Page margin oho. 50 + GQ) 2 pb SLT * na) ignsr | WI" | ass: | 16 ‘fhe CHO8S ORK PHAYENEY, top / “ Guun - Margit “MO “ Gain - C1085 OV Pregyeerey + thn. tha + fi GAG)HO = wre... Beasied . sae ce P sub, § Me; sonjed £ ayelnge) = # Gara yor?) Mls) = 1000 _ eth We 3 CFudlare) ya fi) = 9 - ran’ - tan ‘ ops) ig) — r r pao | 0 [ie | 2s | @ | wo | ox lool olp ah | tea) | 0 it | 41.52 65 23.79 | 7797) 0 | jy, the § | AQ) | 70° | 387°) -4.76° |-93.69 | 57.72 |-86.56 Sub S ® phase CBS over Preguency dp = milk a * Cain C1036 -ore Cthin C103 -oVe Aregutrey tly » oe 100 2 ~ fiqge [reg FACOR 10000- = / 7 4-40)4 2 Cee) + Lo = (ie loo 2600 snot ee (Spay. rama +. t Senna? é fi wo" 2 @ 225000 ti tLBKO | wo.5j00 wt O10. yhs good 25x00 99I1wt = 25000 250000 . wy 2 6.5 adds pine Makgin = 180° + ric) 2180+ 39.99° PA = 219.99" . QTE: 25 /03 /24- Pee fe bate- rie te pling systems } ad ea TE ais) _. yy Gi) * FE UFOLD y. fe 165r(00) gh 8 j the gen Furttion is in time —constaré arm Su 5 =fO lo . . deolire G2) (0.072) fle: @ 2, 100~ GU) = ______— - sure | sore ar | SLOPE AFTER | ee be] wd om - 100 | 5 F HOU, ke. | ee, anding dt @ > aol f in 10. 10 jp. p ao Gj) | 2 moleg 0 * (ods) G | + pan Yas) ~ tan([Link]) 5 | 10 | | 100} || mnn7” | 136" |W" | arpa en __| Gain (1O5S-OVA oe ay = 44 rds # phase (HBS -ONr fegueney, Dp = ¥8 ads # Gitin -Mangin, m= ~~ ~ Hit) i astg iss ‘p) in dB =~ C20) = fo] + Phase Morgin py 2 (80+ Ply) > 80-156" HY O75 Cit [Link]) WON E eo C08) fb) amet Feguendis: 0 5,10 , | ste | gaps fF Sete or we are er ge dee. D006 ec | * 2040/tee. odB/dec |~ Eee ae Sirting dB, OE ny OF ao fir w, 0-6: slope = ~fadB lee Slope = Odgde sle =~ 9 AB Ide TO, 5-o? Bra, o-w? = oS 70.013) (1-0. 025) Y ogyss- OR Pregurhuts : 9, 100, 200 gus 8 UO alis) = [Link]) (140.020) | aope BEFORE We | + 20dBor | tiesh ROB igre. | OB (dee | _ pooyd _ Be | x 2048 fee. \ ~M6LAee | aay? | } fit : 0: 9-100 * @y 100-00: 0, p00- 2 & sanbilg B —n'(0.00) — tan'(0.0202) 400 IK 94g | ~ BLE LAE: 27 108/44, varied. (eta = ® ik 5i tox isTeTz Te 1” 8.8 “Bly je Nee a rl L OB Ga! OF SYSTEMS. A by varying the gain, Gasr rag can be Dr bode 0b, + while incrashg ‘he pls cplorarces , The phase margin wy ms change ard the Gain -O7ass frequency incheatcs. Bes There & no chatige in phage C08 010A Frepaehey . PUBLLTONL. pracDIR ‘- ‘ jee) J. Deteemine Me Cain margin og The faliasing sytem analypial, Cth) = L SOT 25) a @ fs ote lh eeetea)er rape) ‘eep) 9), Dow #00) compl: coupe, et LAO U2) alte) (t44) Crp) red) = OA a) [nfo yd “ 2 » ewe IY +0? )( +4004] volG reer] ‘ > ee * ajo fol (Pea) +4], wt eo zYyY t8e@ eof 11500] aye) ? waar , alee + eee , I Sresae Op ,MMEGIARY parE Seem, Sto be zm - <5, Je dip” oe /> 2p? Gite) = apy oagy * Gyep) © Z . dle ) 5 - 7 Detetmine Gant agin o% the. galowing apse. G6) -—4+—. = slts)* y Deteuming he value. of. K for the golowing Sy" GO = kK | ft obtuindng potB gun [Link])(it0- oS) margin. wer Freguaeics * 1, 10,10? mS = a ri xssunirg * Sit, =p) Zz - Gj) >= 00) | ¢ ee ee mu | si }- 5A | re pacts | We wore | on Re me ne = -20 ds(dec. | ~10 de, 4 a ~~ | | als) | | 7006; fo Whiter. Fo de | Ylizago |” | ee tena | ica | | 1 foo | 4008? AoC dee | ~be dee “iron |_| Mie |S | ) Fr gain margin =30dB (tee | oY Gratn > - 30 4b ldec . . = fap) = dap ton) $ phage angle pot BaD Si _ 7 — ae at wp ; i) of ar t|s yo | 50 | foo | yk > 10k | a X\ | | in| | I | | HA1| A | Be | -19¢ | 217 | 2638) 264 | o5I | 108-135 | || | or pz 1 OO = ~42 +r Gain Mog > [92 Lb Gldee * 78 geo. gaih-Mangn of 80d B fate Switch we grt PAB Upiusosiolr . , B 30M bee secre, the graph Mbp) > au ie Baxting ds will be » Rds , ie _k te 40 109 (oan) = Tot * 3.98 * 109 nan Gain + 5 95 wrt Ke 308 frgga K-32 Cag] } Bz] 15 esta 208 gar angi got G6) =! A Sh Goin Mmabegin => ian ee Gain marg / a sa Hep) Wee p> Feguency as which (8 180° _ Gg) —t oot )* —gindajaXrrjea) - 12) = -~90—p60n" Yes) Keys oe) a O* ~y 9 7 40d> an" Co, 0108) up, ai han! Play) > - go 20K Lip) = 280 “i = 90-180 '> DEON lip) — -270'> HON Up) I | 270 +4 00 wp) = ~/85 tik on bofh 0 = batts) Dp zy reA(s/ ' — , 05 graph a r Mbp) = = We)? Tage 8 ang) Regulor method, Gyo) = 1 1 watnie)* gett vape) GU) -—— ? goli-wF yo) » 1, WYO mop Ci id) Grbjie) = Cr -jeay*® delet +02) SiGic) = (Caio = Ye wl o> Gi) =f -e2* eyo Bud GOO | eww wl)? wn etree Gyix) - 2@ _ o Crey* exgnay* ab Of imaginary term tends fo zero / wary Pe GM= 2-0 Gro * Bf pike = 10h chapten - ——_: 4 88 ~ ssrniery 5 ee ft 4 to Fay)” oGeagary t yo) = — — OO ofpo* ete Ho) » ~ 90 ~ tax 2) gayi) > (2 ees) K = 1000 GH) caseal lop transfer” function». Gls) __. (7615) Hi) K i. _ ste # SMW Nass Criergutatk (ed) HY) rast yl) t a e* KOSH) RD Ki sysrylsro 4). Gain 5. phase margin = RB ree Trarsducen etna” vs oe Oly , Saar? —— gan . 25 ~ lated. loop POST Rts oD DATE! R~ 0% ~ a4 flowing ¢ rousT- SmBNIT CRIERIOM ? lade closed. loop stability om polar plot og mvlnkae cn or wy yee > Graphical fool. | /oop % * wing couly reimann’s mapping Theorm . © For open-loop : po, of Creirelemertts around Org iy, © fr closea- loop: [Link]- Oneirchenents around 3. Tae , 4 Nieuist Satility Qrieton 18 Brake. os LOB, 18% syst re Gntux Zo the op loop Barifer Punedion Gest jex catesgonding to The PYyQuasé Creer in Whe 3-plane ; J). cnetyeles the por (-1+f0) m The cobler- clockwise irebion os ynary pines at 0.26 High hal, s-plare J (Pols a Cass). Then, the closed loop system is VX Sralte - \ a WhOE py» pets encircloment og CI17IO jn cautr Cak wie ditectin a 5 ‘ ’). A W p> be o% hight Sikh poles we GHA R Ze ho, 0% Vighb Sidtol. 219s o6- ae HS The | ne Jo make a clad lup Sytem te se stable pr & ie WnBMMe open Lap Syptom, 7 ay gr? rhe MYgUEss £0 » commenton lees ape bap Sytem, GUO) = aearKs pete sUnine Chased bop stability of the ; flown fap YOM MAG Mua: staat erkeion a Gt SIME) = SN Sg. Csr td pre te wyquss plob and. arcey DE stably & the system whose 9 loop consol Syston 15. qian &y J GOHQ = kK Slest) 4) GI) His) = = _ KUED 58-3) poith - HURWIT? STRBLITY GRPBRION . for a hinean system to be srabe, Te must oY, i). 180 > Bourcled Inpu® fautded. Output . 9). ASjnptatc « f Tre necenary conditions Br savilty #6* Hneeion me inosine caegle typ single apes oon detcribed by me charectr equator, gisd= as" t gst ta pore i ype A >0- 4 be J. A the cogeicnts % Me ce me Sigh « peal + han the i), fone of rhe cneyitier, a The woush stability artouoh is pued on Lyrmulog, cocfficithts o me chayarter sive equation 7M fy j yane called bath tule cy Idi array. *, PIKE Fish p00 0% rhe array COBIER of 43,5 .. Coefficients and 2"4 row conbtibs 05 2, 4,6,..., cogicerds ak counting Hem highest order, The lemairing raws are Canplecd ty me obtained by indicated. operations pelaur poy gm Order Sygiun . + AY the Sptin te be shaue al The cooyiciends tn ty C¥ calora of routh aray shold be pest Y tev % The confpicin’ is negative, The bape (3 unttowe Nea the 10. sgn Hager = Ho. poles nd niet, The ryht hay cf He S-plane 5 | 4% 5 ap 4. 2% se a) ome as ar DL). Gilg 0B. f GU AOS 4. 4 —- GA at a, a 4, an BB 3-42 1 Sh Fit me sfobilty of rhe yellowing system usikgs Sp in, Soe Ht mst $3s*-p53-5 =0 | as , ir 4 F i Od é| | 24 “6 | ! 48 a8 9) ee ~o s| Mie 8 s'| 22, 54 s'| -S ¢ Te gin aye is unorae and ho. of SYA changes = 2. Hence three 2/05/poles lies nye & te S-plare. Detomine the SYatiyy of me system. shp25 40s? +85 +3 =0 Sas. de gs L sl 2 8 2 S/) 4 2 3 F S| 3 The system is stable Since all te ordtes sn the ee Aitss column ae posreie. . DIFFICOLI “ OME! 03 aasé-i) DIFFICULTIES PAS’ 03—04. 0K PY ayore of Fe ows og he elemeré ic and. te remaining elemrnt atleast 2 elements 5 Ahn-2010 then , voubh abe const be. amen dey divide by 2070 condition Procedure * © place the 20 by a Small constant € and Farinulecte rie voobn rable . Finally opyly she Lin € tetds te Ze tb wlentily whether the sytem i. Sane oY writable Pr6Im «: ). Detounine stability of Me poloning é. (FSH) = Ol) = 5 “sty ast TASH SSHE oo Saln -- \ “eo tale j Apply Lb Eva - | 26% r2 S*> -2 4) Hence the system isuntslt Thee Syste will have t000 pos? Ze100, thats lig, on rhe right Plane. Aw. oe ell chi ot ahi Se wus condlibion indicates thas Were are ee locecteal nisin the s-plane (paireg 100l Is wih oppeneng” (Pairs compiles cage mt. etn ud es £ ake phe rows 200 th Whe rath array? tied at canilnny poy pant « Ms Papandl’ PM wn an, loadin 08 Wer pars og the CE which we metrically lavated in Whe Slane. am pgier & 64 OH en wrth, the filosing @. wes °r 208" Ibs +6 20 - PO “ Ss 5 t28 5.98 tp galt! erally. using Routh 's eee a7 g po lb giz 2 & e@ siz 2 #2 s (og oc?) > dial * si é 6 g!| 267 ile 2 ste 12s +B * Menillany polyporni!, A) = da 3 og bat 2a8 * Te system is Iimiteclly steble . ke ska ae? tie = a: op gute? — bt fB- 2? # ae 9), Dobernint WE mages Wt 0 hig, ’ RG) - a Ee ageey _ I es Se SU 4SHIGH) claw ly system ce kK +668) = It Ges eseyeeryy) OF sistsrishy tK Ss¥StYY Kt S08 Wes *estse4) 0 & Zz Kesty 58°, 58 496 <0 > bnehte oy, faye * Roch At } sy 3 a & S|5 ¢& o 2 S42 KR For stabiliy gs! | 68-5 7 , aE WB 5K sl 42 K< 3% range ok AY o8e peste urge ta 0 ke? fo meanginas he my 3 5 | 1 Kr4. "| s|8 aD gi | Skrs2-a0 He & Sule BK = -I2 key Keng 2 Fs EP gk rroge y mmegirally Bille 2X Yor sug, oscéllaxion . » ) 8 2 . 2 Sot 2KS"+ 7KA2)s =0 sah: 3 . nal bY kez 4 Wid? 2) 2k>9 Kdo o | PE ee at roa: 1 2 ~ 6 | ARHGR -$ = DE 4-4 > aly ° So \¢ RK-2 So A752 | qe: 4. For marginally stable, K = 0.782 Muti llony equation: 25°44 =0 Ub k= 0.752 (0,782) 5°+% = 0 foe steey ae Se = 278 gL [SES LO= 166 hades 3 a st8 > 248 + 828 tk nO ae Y f - shli 2% ok Pos ros: 3 s [8 32? k>o e| s |” & 6'-nw: 1| 660 -8K ba | te s|K i ho -#k>0 S40 > 6K 4a ange : 0 -f0 ‘ 2 a EFT 4 a St 255° 4 557 4 as pk=0 Sih: ee Sk fstow: ‘ ts 20 ko Sle, K shape: i — 8 | Beg RERME > 0 Kk < Bt Bt oiust FD Ionge: 0 SK eat F dD Ke yx ’ | Nucillony equation» — 14.957. =0 ar Rou ve | 4-287 4- I-36 +0 | 32 =-[Link] gt M2 2-08 n> so t 2 10 - ey 0 “13.97 ~ Krull be imaginary . £3) open. . = Px- loop transfer Function, GOHa) = —— K POF tte it | _ Bt) (3641) CH) Sfaude + K Saag rai ped. sh . fuiene, 20” chayachenstic eguaction, (FGQU) =0 1+ K abe) sisCasHcast) wo” (ast) tee a 4 95 past) +K =0 6g t sl gr pst “p45 557+ 63 ‘p35%-25 "45 +e 20 ght t BEES os te Us e68 PS 4K =6 sf b 6 K , For a stake System git , 4H or 5 | FB UK eee os 5.45 > HK ° Sle k< SH a K < 046 por sustained oscillation , = 0.085 snjlieny equctin, 5.456% +k +0 sub Ky 2 5. GBS” 4095 =O 522 OHS sha anne 54S > sustained oscillation 59 Ge > __ * sysise) oer 1 GbIHa) 7? + K «0 sl eSt(st2) sisestptsta) +e =O S574 5 9574.25 48 48) HK 5 (574 38° p Bsr re =? 3 Ste B5°138* 428 HK He st rw! 233 4$66-3K SO 0 OLE 465 > 8k KC ¢4@ te eels serge “ O 1.55 Aeaillany eqestion, 2.335% bk £0 2 2.338" 5 - 1.55 2 9% OKS SW 10d: Por Taki s]3 2 . kre 1233 s! 4b - 3K ws mre. stoAlity : MO WS 5° 23 *+ 87435 Bsrb 20 g tg 2 8 ¢ st| 4 : U1) _ were | ( ‘ ¥ te 2 ¢ ray pe slat Ef oo 2 256-4? 6 s ee bb 2k in ry E70 fiew ° s‘|é . ses ty lsre) it Gl) HB) = 0 sctplsta) +e we 55°38 42) TK FO 3 574 36% p28 tK =O ih -cray + 7 So raw? Sl rog ~ s) 3 ok ve g') 6k eee 3 , é-Ke0 ole ook Ket muge: [6 cues] ps red co) © KD) RO) 7 he ha g kee Mm! a , tees MAPIUC H Hag gn : aut, RE g 2 (ste2s 18 ¢ yet 9] cis) > [28 124] 2) | @, | Rod stag ras see fom, se 8t 12 | 3| ‘ ; slaa There 1% | | iy % Pretchey «| ss 8 pegetite tM iA Ye | hash 7 cplimn + Here ThE Bye fs 7e orga, sls for K=8 . . KP? for stot gubpcs M6ponsc 3 BH 25° 25+ (3rdS TK 50 SK 13 50 L$? mp7 = (rk eso Le koe] [-K 20 I-K?0 ' sky bok 5 PR ar: limsting posibive value og. K wile 2. GO) = K . iross\i+0as) — * Por absolutely ofabte » 1+.G GHA) =0 SUPOFSUt0.255) +k =0 S[1FO258 t048 + 0)8°*I HK 20 S[ O84 9,245 HI4K =0 2 O18? O29 FE FK =0 slot 4 ezn o [Link] k a lott sir: 0.29 0.21-k >0 oy kK ORK K< 929 Rhye? oO Pye 2907 & rma IT RB 2p | g'| 2518-204 o | a 907 BBS 2% kK < ue a 4 - KS 09008 ° Neoxllany gn. °° 7.9018? 4K <0 . 2.9015 * - ~9.9008° ct =/0.8 2208 pds Gi) = __iK syst se4) In * a tt Gis) Hi = Sls*rsr)Et) +K = 0 \ 88% 48 484 oS 1844) th =e 38 Ste SES EEE y OS 1K =e stess? pss74 45 tho a, ee x | ls * FOr Staualiry, . ee “Koo ! wae "Ub.%-S5ke>0 |? IB >6k SlK K¢< (ee Range > 0g 5!\1t$2-7K a7 (9GR STK S| k k < Lape > K< 2.77 OCKC 277 lokge : -2L77 for maveginal value , 4 i 3 TO? 26 1 Wy e 2e 77° 52] Bk o i ee Jeon- 4 6!) cata g e 70-2 ai EEE por stability - -K>oO Gx 44> © q> 4Kr Kt K«< #77 70 -2K >0 70 > 2K Kee K<35 wr . : ea: = << D. fe oper loop transfer funchion of-a wnity Pedbary canta system 18 ginn Wy, | Se eee Cr Q EHS 765 126) Ay applying ret crrkoncon diWA fhe Fatih clara boop system as a Aurion ok. Peternin,”* ML Vielues of K which will cause Susbrined Biitebiom in Me closed lop System. thas o,., conesponeling oscillasion Aeguentics » * gl tr = Clase. loop tratnyer Furrtin'’ ce, (Ff GWA) =0 it K - Cr OHYS 5128) (514) Gr yls*6s-+25) K <0 Css rs Esteesr2g re =o + 3 2 SL 6S 42554 63" ¢ 5687+ 1508 485" 4 $854.20 theo 3 5*r as? +695" +1985 + 004K) =o foc ot et are s?| 2 198 s\525 20+k 5! | 10395 ~ po —12k ILS a jootk oe ei —_ , pork >0 £5°-rowy , 1038 15 - 2400" 1AK S 6 Ls" row 7995 > (2K TUOe 6 Kk: ~ 200 50574 763 a 24 200 gi {17 o s | R00 ho - SGh UBER = 4 > pg. of reds lick in nigh hak, plane 2 WO. 1007s tes tn lel “hal, plane. J Lf . PMYE” 16. ROOT - Locus TECHNIQUE : is ne el $ d- Symnebical abous real - acis (horizenBUl axis) ‘ g. A-m parrss rackes (Terminats) ab k= 00, M~> ho. & 2H. » Taking a anbitary point and ho. og pols lovary y ks Side twill be in redk-lortes. - Phe } A ic dhe , an > Haynie lines, cts ack ore @ Pon £10. real puss — FUK Sio.G reak Mt ? Prt | h-mn Ry | 9. he Breakalley pores of ye reer Jous ore | determined fom the rats of the pean» te so, 2 Mngle of departure From ar oth loop pole i gong $ ~t)(zgrlt+p 2 9 20,! ‘ Chere p » Heb conbitution ob pole of aX other Ipch loop poles and Lerocs., oH IS aylicatle Oly when the sytem is heyy, compler cohjugate poles and zebocs "o Angle o& “Mival, wee Ww $= 2 (yt-$ 920) |. cdtsre p> neb ange o& contrition ob 2m eu It - hex OPH Loop poles are zeroed, I The Detection og s00 few’ branches with a bog eit Conte determined by Me cue ¢ Kowth crn. 4. ThE OPCh foop gain in poke & m The rer leu, 18 gir ty, K - produtt-e6 phator Jeni OM 5 to open loop poles. ‘ pioduct 26 phasor lengins Hom So te open loop 2110 psn y, SoA The rect focus of a unty Feedback eystem Witt @ OPC loop pransyer penesion, 20° Yorn a any pons G6) = —_K 50572) (314) fd. he range o% values 4 R Air whith PE ape syste Aas dampen. axilaty rponbe, greatest waluk 0% K before eontyhuous oscilebion ? Yeo detuning the Frequency of ocillebion | soe # N= 3 lt. & Pols) + M= 0 Mb. of retOn) p Locabion o¢ plies, 9 =0, -2,-¢. ame ~» ), F014, 2 BOlet ee 7) vO , - (80 _ 60° 4H: “bay Lay s 180 by, = 1809). 300° (OP + Cerbid + ~ 2-4-9, > E2] # Breakaway points : # =o (+G6s) =9 iP ao soraGt9 stsraysty) +k =0 k= - (Sts) ese] ke -fatasysea] =-[37 95's r83] k= -[5%bgs*-38] dE 5 [3510s +8] =0 +2 i a’ 1b BS was #8 =0 T S= - 0.345, —3.155, + The Achwar srakauny poirt is — 0,895 | Nerylng Rowth crtetion — 5 cc8e osc ang | tly “i | sé s! BK 0 48 -kK aes sly - KE 65" Ke =0 63" 448 =0 ste gs c s*s 9 Safe 2 = 2.828 tadls} -> por uRsalned SF Or aie MH Unity Fedtatk CS haz Gun bap Teankfen function Gls) = K bKetth the Loot boour 5(8%45 468) the. System. Dh '- P Ae 8 2 m0 * location og pots, 5-0 obéseeso \ aes foe esis ~8LTmC. g tM 2a = * + subi ys Ma is On the ook lous | ee es / ee dk a SUS H4848) FK = 0 k= -f54-484 735] | . : Fe =~ [358540] =0 BS ESHS =0 Aad: Zeb: 08 = 83 (pie aE = -84/759 6 , oe PANG Ob dénaxdwe , 4 = (80°F (-96°~)36) > ERT f Xouth artercon 3 SF H8? 4138 4K m0 13 a + K t| S2-K _ 3 | = (RB s°| £ \« As ak =o G8%2 $2 gis “BB F=f 361 |J- Me open soap tarsser tanetion i gien y, Gs) His) = — Ks KRHA The Hoot SUSY (S4ast20) ee Sh oun t MO: A r4h » location of Pols, , steeeew Arr: £rEs CFR -¢LUb-80 _ pry - ftw a -ExrTy z fy BR. ae ty BE condi car wei dk ‘& Sbry(sr45 +20) tk 20 & = -[stesyestegs 2a] [shes?, “05-46 Ss 4p s0s] Ka Ts4 57305 % me7 IK a = LPS 205% 28780] =0 5° ¢2bs7 4728 480 =0 Routh -ortenon :- 3 Sh 1874365" 908 pk x0 s*| 26 KK s! AbO —8k S|K BERK & > Wh -KK =0 js. = 260 &= tye ROOT - LOCUS TECHMIQUE * d- Symmetrical aboub real - aris ¢hovizental er Se D. Am parts reaches (TeAminats) ab k - MM? 10. & 2. , I: Taking a arbitrary pon and ha. % pols He will be m rook-loues. D Asymypovic tne. ‘ py ~ (eet) 9). Centroid > AByinpic lines CIS each orem . ‘3 - Pig > L.& real hors BOE TM poag. 9. Wie Breakautey pants v¢ ree root fous a deternined From [he 100i o& he —GLason » ae , ee ? Nigle of depwrcture from an opr loop poke #8 guns fe - £19 tP 2 g 20,1 | here ¢ > Web Contribution o& pole cf ah other IPA lop poles and Zerocg. ORE oyylicatle only when the system ix havi comple: conjugate poles and zehocd . ¢ Ange of Anval, he ate "th hitler -b g.0) cere p> eb angle os canoprivubion o& 20 4 Othe Pr loop poles ancl 2/0: | 2 Te pebencction og sap- pour, 5, wie «188 1 OHS Can te cLeterorined by tie cae 6 funtth crérion, a pth 100? gah kK in pole ~20° fare ab ary prone 1 on whe 100" Us 18 gjrch Hy, K = product 6 phan” pac 08 poser Jeg frott taf OP Tes Pah he reat locus of & unity Feedback exsben Dam a pen Wop Braniyer yunebien gs) = ——~_ 5012) BY fol the range % values % K Ait whith Te. one yer os dampen oscilesy Merendc Fees alue 06 K bygre continuous oscillation ? yee denvunine the Frequency of oscillakion | | a t h=3 (0.6 Pols) +: N= 0 (. o Atos) + locabion og poles, 9 =0,-2,-$%. Aaya engle $y + W00zw | 9-018 Aw , G oe eo s gy, = (803. 1g0° ‘An nF = ‘bys a 1809) | goo" 3 (+Gts) =O it _k SMStaUBtY SEG) +k =0 zo k= -[s¢srneseey] Ke ~ fed Resse] 53.45 5865] Be Lsirest sy oa =fock a * *LS" +128 +8] “0 a PGS £8 <9 OF ~ 0 368 3 jee fe HoH Breaky paint 7s ~ 0.845 perying Pom critttion, 8 "44s" BS HK =0 wd = 2.828 radls] -> for . ° : oscillechon. P.M unity Redtark cs has Oper kup Traniger f Gs) > —K 7 | gketth rhe Got ocur 56845 413) ete system. fhe 3B 3 m0 * location og pols, 8-0 SYHSHIE 0 FP ere - bt me “pen” ES , Grote ifs Mag 18 On the poob lous | th > 60° ‘fe fe =3h0- NACCHO een ae tS - ey dk as SBF+S4B) 4K =p Ke ~L5% 483/35] aK ds > ~ L885 na] 50 a BOYES #12 =0 rea Cera) : ~ 5479.89 5-8 6 (ey og E ibli get Maes fy = rete 1H) ' = Ef] poneth EO” 5 HS 4138 tk He s t 13 | + K 1| 52K a 57 & ol, A5o pk =0 O8%e 52 gto B 52 Lf3.6) J) the open loop tarsyen funekion te gjan ty Ketth tre vook GY Hla) 2, nc Eira ny. NE SY s9st20) ah L t+ M-o LHe * laatin of pols, p Speer? Arr: fre CHRP -t¢LMb-80 - % 2 pt lio 2 2g ne | ie YO Ie ae BOD | p35" + > hs in BO. 228° cent ge Cau 2c a dK as 5619) (345 + 20) +K =0 R= -[esosyestegs +20) Kags ye Ses) [sas S46 9 Us? ans] kee \ Ls 887+ 365", gog7 ak pS ds = Lt8+208%. 25607 29 3 #5 t2t5* 4705 280 <0 She 153 608 "305605 HL wo * Poidh -oFterion :- st}! 9] * bo st| 2b K | aose=k who ~ 6K =0 | 26 [E= pea] ‘ sik ws%yKe=0 —— pos%s 260 z Sie maC) 3a tyfe CONPAISATOR DESIGN : # The peyarmance ob the syst is anprovd. afer adding, Crpensato’s - ) 10 - compensator : Por imploning tansin’ response . 4. Wi - compensator * for improrihg otady otate response ving both the respons, | Dave: 17-08% - 2 J “AD 14, -compensator : for trdding a poe t a system is leads te unsrasilly . > lag compensator , Steady ae * dddlng a. 2u00 to a kystem > jad compensator. LEAD compen IsATOR Ket Ze ia — Mirmally o& 01-02 nee Se f caten be origin is dominant componerd . 200 will be dominant ih lead. compensator - Gl) = StH. StH LAr COMPRISHTOR # poke is domy he a os GM pen scte, —.—_—* : Z “4 (Go) = See ‘Sth foe we x wilk rauce he gun + Hence an amplyier With gain 7 is CUSALLA ryip Te Systm whith nullits the * feeeop a. ool sole pl ae dInpeHSa Sr) + Yr pe Ze. wolmally P value vs high. to) Ts cron) LiCr COMPLE ATOR) :- qhsite . gy 2 SB SET a) ste oR lxtje) = P Cio Gugyy) anplton 8 ok needed since it only anpifics The ere epten (2 po. LEAD - JAG COMPEREATOR Mg lead. ———+—_ “ley Ry 7% *) oTayer furcton, Gi). (Et 2) (st 7%) : Gtk, PR goae ce 2) (s+ Pep)

You might also like