Ba3d el as2ela elly fakerha men as2elet discussions el terms elly fatet (Warning
bas en el egabat deeh egabaty ana fah matedmanouhash awy 😅):
1. Hal yenfa3 na5od ay signals mo5talefa 3an elly ei7na wa5dinhom delwa2ty fel system
3andeina ka states? Lou la2 leih mayenfa3sh? Lou ah yeb2a oly dah hay2asar 3ala el
transfer function ezay? Hal el controllability wel observability hatet8ayar?
⮚ Yenfa3 na5od ay signal 3andeina ka state lou heya el derivative beta3ha mougoud
3andeina feeh equation fel system, be7eis enena ne2dar negib el differentiation beta3
el state in terms of el states we el input. Dah elmafroud mesh hay2asar 3ala el transfer
function 3ashan howa mazal nafs el system bas heya mogarad state space
representation mo5talefa, we bema en el representation mo5talefa fah keda el
controllability wel observability momken yet8ayaro.
2. Eih elly haye7sal lel transfer function we el states lou zawedt element (Mass masalan) fel
system?
⮚ El mass hayzawed 2 states zeyada lel system 3ashan howa energy storing element, fah
keda el characteristic equation hayzid el order beta3ha l S^6 we hana5od 2 states
zeyada heya el x3 3ashan 3andena equation fiha el d[x3]/dt we el ẋ3 3ashan 3andena
equation fiha el d[ẋ3]/dt.
3. Eih heya el controllability? Eih heya el observability? Hal el system dah momken a3raf hal
howa controllable aw observable walla la2 men abl ma a3mel el matrices?
⮚ El controllability heya enak momken te3mel control l kol el states elly fel system enaha
tewsal l value mo3ayana 3an tari2 el inputs, el observability enak momken te3raf el
initial condition beta3 kol el states 3an tari2 observing el output. Ma3takedsh eno
ne2dar ne3raf el system controllable we observable men abl ma ne3mel el matrices
3ashan dah haye3temed 3ala el states elly ei7na wa5dinha, el state space momken
yeb2a controllable aw la2 we observable aw la2.
4. Hal el system stable wala la2? Hal fih tari2a 5adnaha enena ne2dar ne5aly el system stable
3an tari2 el states?
⮚ El system el asly stable (kol el poles fel left side of the graph), we lou makansh stable kan
momken ne5alih stable 3an tari2 enena ne3mel pole placement be el state feedback
method.
5. Eih elly haye7sal lou kan fih pole 3ala el J axis?
⮚ Lou kan fih kaman pole 3and el zero aw fel right hand side of the graph kan hayeb2a el
system unstable, bas lou mesh mougoud el system hayeb2a critically stable.
6. Eih howa el Pole/Zero cancellation?
⮚ Lama beyeb2a fih bracket zero fel transfer function fel numerator beyet3emelo cancel
ma3 bracket pole fel transfer function fel denominator... we dah beyedmanly en el
system beta3y lazem yefked wa7da men el 2 properties beta3to
(controllability/observability) ayan kaneit el representation eih.
7. Leih e5tarna el controller dah?
⮚ PD controller 3ashan ne8ayar fel transient response (time characteristics) we mesh
mohtamin bel error haye7sal fih eih... PID 3ashan ne8ayar fel transient response (time
characteristics) we kaman ne5las men el steady state error.
8. Ei7na lama kan 3andena characteristic equation of order 3, eih el approximation elly
5adnaha 3ashan ne2dar ne3amel el system ka order 2? Delwa2ty 3andeina characteristic
equation of order 4, hal ne2dar ne3mel approximate lel order 4 enaha teb2a order 3 be nafs
el tari2a deeh?
⮚ El approximation enena momken natagahal ta2sir el pole el talet 3ala el system we
ne7el order 2 equation bel 2 poles el tanyin... El approximation deeh mesh betenfa3 8eir
lou el pole el talet be3id 3and el 2 poles el tanyin, ya3ny el pole el talet (S+alpha) where
alpha 3ala el 2a2al 5*zeta*Wn. Azon ne2dar ne3mel nafs el approximation lel order 4
system eno yeb2a order 3 bema en el pole el rabe3 beta3na howa 3and 7awaly S+1000
meaning eno be3id awy 3an ba3it el poles (dah lou el 1000 > 5*zeta*Wn).
9. Eih elly beye7sal lel overshoot lama el Kp betzid? we el steady state error? we el stability?
⮚ El overshoot betzid bas el steady state error bey2el. El stability momken tebouz lou el
Kp kebira awy (yet7awel men stable l unstable).
10. Leih momken yeb2a 3andeina moshkela fel overshoot? Fein el overshoot 3al rasma? Fein el
steady state error?
⮚ Bema en dah physical system fah el overshoot hena momken yesabeb en el system
beta3na yebouz (el springs tet2ete3 masalan). El overshoot 3al rasma howa awel peak
lel output men ba3d ma ye3ady el reference, beyet2as ka percentage bet3abar 3an ad
eih el peak dah a3la men el reference (elly howa el input step) [Percentage Overshoot =
(Overshoot Peak – Reference Value) / Reference Value]. El steady state error 3al rasma
howa el far2 mabein el value beta3et el output we el value beta3et el reference 3and el
steady state (a5er el graph 3al yemin), tab3an lou el system unstable we el output
maloush steady state fel a5er yeb2a el steady state error b infinity.
Good Luck ❤️