vv: Dec. 2c12 1 JoEESS Medora Conbot Theory Port — A sbinin tea Sinbe mall by direct elecompositron melhck fa system vohose transfor funchion bs 2 i) 5S +b3tB | ye Sr ast FST | (@8 Monn) XS) _ 58 HES FR | | 2. ee ess | M3) sesh ph Fst | > Yo (Sass rts +9) = vo( ss teste) > OU +e rE ry) ol +48) = Dv wOlErk rR) hed) | | | | ~Qinke Spec model» x, “3B ft © x +5 x | |-F eo wf 6g fu % -4 co 0 | L% 2 4 . ey Srbbuct te Stake rieclel wsing phare Veriabhs Uf a System is oleseribed by the deff erential equation < Jay AY ds” Te” mate Ay =loK® @ Morn ) Wasion: i : ay ) d = Van > Oy i d va 4 ne Bits iy 480 FAY = lo wl) We tebe Let te Stete vewiables as: x% = 4A) % > ae 5 X, = dy _ a 2 %, > Ae ¥) ee ee ee ee a ee a a net sf =Han he given equatin Can be writen a8: Ki +8 Xs +I FH, HOw State sgeee meelel %, © ' oo} fx, Oo %& |=] o ° ( x fF) oyu Xs “4 me 8 Xs Ic | What ave the Innperteutt features SF matin A in phare Vavielte form 2 CA Morns) Using Phase voriche one Can represent dhe System in Sinte space tn fuse form -{)Conbcllsb canonicall dorm od! Gi) ObSewvabh canmical form . Contrllable Canonical farm provicls attwronee for fr System bo canepletaly Grebe. Conn | Bservahe canenial form provicls wiserente or bes System | conplefely Sick Sbeervebse . |«@ ) GWex Tena Xe vs) > Ye ve 2 olin tie sink meckl by Festeds farm of = System ustose transfor function io oth) Ge Maries ) - (St) (342) (843) fanckion: sty Oo GH) Cs42) Cave) @) ca t+ cy BH) Ay Se aoe B43 > ec Care) Cses) + co Cand (sts) te, (su)(s42) = @s - 2 @ S=-2: 2 = 34H eo, (te) Gta) = Oy > %] mz, s (-241) (+2 +3) = C2) 44 2G = => e W a ~“fp = Qe es 6340 C342) = bs) Hy GL2)C0 x ayy, 2 [ae | | ‘ ‘ ° ‘ . ‘ 4 ‘ ‘ : ° . ‘ <t " == on = Xt) —@ x, &) + 1B xg, Gtcke sgece moll: we 2 ! o ot 1 XS 9 0 0 » = rs + xe of | = | 5 | %() ® = ~g yy Xs) ~ = oe = ( zal S42 SHR | => 92 © ve) vb) em 5 vey _ t9 aa (3) 5 (= * =) lee A, = ee > &xrDx@ = v9 so : gS re a Kx =u *) vy | ee GD 5 vp KASD %, paws XM = VS ~ | 3 a => (3) x, = ve E> KT E%EM I~ Exe FS ¥.8 are xis ~ 3 3R rv S i eS 2. | Consicloy the rubies 4 i) yt to Find : WW) The eigen values amd eigen Vets of A Ui) vorite de meclel mahix (ili) Qherw Hack tte medal matric vnoleed Leageabires A, Griven A - 2-2 3 > ~) ( Yara) -2(-y-1-1) 3) FAD Ee > (4) (P-2) -2 €x-2) 30) =o 3 =) Heh erty +odtH -BN Se - > NM -e2_2n 42 50 Yeots of fre above oy: =| PFS] 193FE H Jo-FEF ee a eer reSS ee | } x5 m; = AAZ » Lh. Mab ° esis (1 2421 4ja°FF35) (1-2. 42\ ja 4735) 1 OM = FT oseng (s-astbrjo-MS®) — (3-93%h ~jots) “18FS1 (a atgajo-Tsd) (1-9876-jo-H89) " “e ous) (0-2082) (-0-HbS ¥ e-ee ‘ (0-032 -jo°1470) (or 1asd + yorte22) (overt pas) (oone ery MTD (ool 4° iss) =0-0332 7 ~ -| 18951 ° a ie zB 1.9376 Yoo FSF © ° ° 19376 —jo-FISF a3 . : wen fhe inte reel xX =Ax4ey Y=cex vilere A= [: 4 {| B= [ef ank c=fieoj Simubte andl find tte transfer frenchion LO), wring Mason's gn forma oe forms)Oven on x ¥, ° \ ° t 5 4 x {=} ° ° VP} Xe 5 Sa = |] oa) yet Ys] Sinnetotron [ aegrok flo gph xy _ | 78) - ve id FSS > 4904) eee es es) ss FTL FL AN hR ONAN RMN he omnesee ee ee ee ° | Lomput e oe fee Fven mahi (terns) ° - _ 6 ww Ee] ee tp ae Loe] At Ef (s-05'} (gr -a) = {ss ey (or -A) - ca he 7 - o 1 e-4 - bt kL '((s-a5') = Be - I‘ | oft fs t - Shy L'(e-a5') . roan Ces wt Sine = ginwt ee gi-a,)-)7% -* ve i & a) [: wh (35-8 afew @yueor wy aCe (6-42 - be bens i'fer ay'f = e ust ES “f | —e sinvok é tae yn Tey) jlo" YC emg} = ety 5 2 | :10 | GA Conidoy te System verti Saecte equation fe Mors) (4) . nr) 0 X= AXTBUW Whe A=] 0 © ) | &B= {© “bo -n ~4 a Find te Conneblabilits of she Sytem by W Komlmen’s fest (i) Gilbert's tes rere - o | 0 ° riven: X= 5 | x + 0] -~b -y |G d 6 =n ce No Bee > Paros gurey so CSt1) Or+2) (ht) =o nrnnonwese., npoaonrnrnnrrmrerperenpaenmnraenmnnpmnomnmeg? - . « - > - c - - aee angen velues FF A ove | -9 “EL peteets Wee rar] Since pn & mabin, no vows have oll zeros, hente dre Gen Bysiem ‘wo completely mde contre lla boh . -3. at Obtain tre Ghee ah hi : el tb) 2 g trensifion mes to=[$ cc wings 2 i) Laplace trensfermahion rnohteck i" [o Marne) i) Cay key Hemi bien motbad ( Given x= Amy. xy MPL Y(sz-ay"} - & -l (=r) 7 ( A 5.) l9Z -a) =o > = Sins +h =l 4 - g ' (o-4)"s Co Gye ) a 8 (S42)* ae| Sty = a Cn | (Bx2)* ea) . (sty cn +GCs2) = Sty | Se Eee Co2G = ¢ > Sy 2 . 2" st een ¢ eer Be ae Sra) 5 t (Srsy (942) Braye = Ber) t yest =@ See fey = =a] ek 2 LHC, FO e220] At | 7 p CL (@-s') A ul 2 = an Bayt i Xd B12 tz) (Saye -4 (3+2)* = st) G+ 2b E — At eS eae bert 4 pat = = ype e°-aterr ee EE eee i) Cag dog Hamilton Methed : | eigen values FA? | y= (7 ) Oe = OL ay Jaz -Al=e => Peetu so At2)>=0 RH 2, 72. bt day= oh T+ A RO = & +40 4ay = er Lk, +h, fay = eF = a,-aX, ——> f eS _ eer = a, aa sat oy e +ae Af he ~ be ys At ®& y T(e*4ate*) + alee Cre] jencp ‘] 7 “ 2b on = [ethers® te W -ype** ot ete‘4 | Bey Worth block diagram, euptain FW orebr sinke Eboorver ” (@ Marrs ) lot te plone be = % = AX +BM 4 =c%Kr lz dbsevver by Subsysren to Yeconshuck tte Stabe Necker 5f Ave pluck. Tg mokhematical made af Re obsewver Wesicall, je game os the& of tee plesk , except tat we inchule an addlitioral teym that inclucls fue cdtiniation ervey to Compensbte for inaccuracies im matrices A and B and fe tek oF he tnitial over. “The estimation evver ox steonction rror uw the difference hehwech hu measured, culpa andtic estimated outpace. Te aitiol exvey oe difference bebween tte intticl giate and Ke initioll estimated Sete . Fhe mathematical meckl of he observer given o8: og A AR pou +e C¥- 9) & =e s & > A —ke) ® + Bu HY nhwhieeetie® 82 TONDO PRPRDARDDADPPAAYP PPP. Pte |ili ll cel where Se te osirmateod State and C5 ts thee Esfmaked cubed. The impute te te observer are Ae output y and the Eon Ywput Ue. Main He | wstich is cabled He ebsewer aain Moki, U a weegltig Mabie bo the corvecth’m term invatving He chi ference behwson he measurecl outpot 4 and ste estimated okput CR. his term continuous diy corrects tee, malel curpsct and improves fhe per fosmance of Pe observer . The beck dingrim of the vystem and tre foll-ovdor diate cbsorver given balers : ane Aud h- ordev Grete obsevver-[6 | | condor de System defined by SAAN EBK ustae auye t © ® thee w= \ PO OT] y pels -) -& -b I! By wring, tue Siete feed back eon U=-KY, t desired be haw pee closed leop pokes at a= -It]2, 3=-lo. Delevmine He site feed back gain mabix K by vive Direct Gubssitution method. CT and fremacton roa (12 Moores) Siete foal nek comms: U=- Kx % = Ax +BC-K%) (A-Bx) % hove K=(k, ky kg | ch. 22 & & closed Loop System; \sr -(A-su)| =0 gs 0 6 23 s]-({2 20 ]- er © es “i -s -4 fe, yy s —l ° ak so #9 G48) silkgre) vou =o st a+ kbus rKts)) + br 20 DO Po hf 3 Ded ed be ed ad ak, _—ij. ee as a Gf Ge eg a oe aaa aaeeaeaeaee eee ee ee eee | > s+ kus + Gts)s + fi) =o 3e desired ch. eg: (8 +1452) (8414) (ste) = > (Gwh+4) (stie) =o (ee +2S 3 $5) Cer) = =e [sty j23° ieecnenl oo =o o \ —@ fon O uO * K, = Se-! = HY Kk, = 25-S = 20 Kg = 12-6> 6 Hence Comber tler as ari ¥c Keka 20 6} he aA: (Gr-Aeo > SP +ostestize . fi): Transformation matric T : =[B AB ABI [4% 1% | a4 ft © EISIBtS “Leg Tat = | ~ [ka re cJ= (sen, 2-5 12-b J | K= THA 20 Ly8 | b:/0) Dofine conbotllers ond cbisity dem: (Ener) by) with a black diegram explain PTD Lonrdlorg (torts) ‘) E npbrin tue follacing nn Linoarities. 1) Saheration ii) Deal zone - ii) Pack dash. @ Works) %) AControtler detects da is a conechive Subsysten te dove be chosen plaick $0 uot the oyiven Specificakiog , Ty y . e Tt is alye Known as Compensators, Classification sf. Tadusivial Conrellors : |. Tie -pesitim ov ON-OFF Controllers 2. Proportional Conbetlors 3. Dnbegral eonketlers A. Crepertionall ples “inkeqral contyctlors cS: proportional — plus ~dbrivebve teatrellery . ce freprrtions. - plas - incbeopal ~ ples ~devivebrve ConreAlors $. Stake feallhack cordlers m aheten ner model, (Pejor: Modorn Conk Kanggonccy ine va kOgata, bX ed, pe: 22) DMDrnpnwewPpTrwepnpHaHonnnnnanronnannnnonpprHaHRrrPrhraaHHRerr 4 (8) Refer Conk sysrem enrgmerring by oe. J, Nagra and W neph, sted; Pages: 220, 221, France’ TF. Nagred® and © Refer Const system Engineering) by z 5 M4. Groped, sted; pager = FAG be F22, Z0y Findl at te singuler points for te folmsi & B+ ajsay =e Cotas i) J H3g +0 =o. i) J rshaey ae te Kay a4 2%, b= \ = -24-24 ~ 2K -B%, 2.3. hak: Ginputer poins: gee OH, =0 5 Kao; bm kD tye Ky = -2K,-3%, 50 > ALS0, Sirgulbr pent & (0, 0) |pe ) ¥ 435-100, idk - x= % 2%, Ks \ Ss. Medial *. Ka Ke % = -3x,-10 Singullor (pei: we ok K=O; Rae, x, =% Ho Dp KK to 42 -B%re SB =? X= 1% bt @ 4%, =o; % fo X= Mes %, to . emsist . Hente dtare wy no Bingielor pant fer fos give Sten, Bl Vete a nee on “Semtd ayes.” (iymerns) Refer. Combe Sysiern Exgimoocing py TT. fu lh one : ve Es. My HiGepQ s® ed; pages: F32-F32_ on Eglin delta. melfredl of Cons tructing bee — Ce Aer Rater. Combs System Eaginaoring, oy DS.tagmstan M Cusp st ody eyed > 439, Tuo, os. TIRY-2.. amwors fem by Loeb pose v7 come page Phebe trajectay, PrP ADAa nN Onn AnnAARANnRArRAARRRANnnnaAannnnnee eee ee a ee ee ee a — ee ee ore ee 2\ 8. @) Ragbain : i) Stability ii) Peymyplorc- sink lity i) Ens tebility by graphical rep reveatntion . 06 Moxks) Refer: Conb& system Fnaincoring oy TT. Nagreke cord M. Crepe , sted; pryes: bA3, baA. b Check the Sign dofinitencss fre follocing quedrehic equation: (6 ts) Voy = 8% + Faxed + 2%,%, — 4H x, —2x (0) 1 A 2 1% 1 Hy 2%, . oa ou 7. Given? Vey = BK, FKL TMK, + 2K, Hy THK Xy~2%,%, =[eu a Ps 1-2] Px, toy =t He 2 -l 4A 3 = Lx % %J P [2] a Whe Po PB t -2 [' ee B>o; He ‘> 24, ta Be Jel = 20 >o. Py Sydvestevs tfucotems to qaakix P iy positive clefinite , Hone, the given fumetion Vig oy positive defvite .a | | §.€) Consider the Spiem wil differential oguat on vores) Zeer +e =e Francine the ahbilig by hieprnevs matfal, yren tet ie>o ank Kyo 7 . 3 Biven € RE +KE FE te. | an wn, ~e =% 99. model = % =e ; 3 H= -%, — Kx, —Kh% Singulor pein: (0, ©) gi fo <1 | MEN a Ls J ak = ~h= Tp yes. =feo cl t *] \" - fo | Pa fon 7k = [he - \* ie 7 eer ak Pos 7K hoe ae 2Py Pym Poa KPD Puree: Men KB 4) PeEAAPRPMPRAPDATMrMPrarnrnrrRranrnAnrRnrnrnranpnnnnre EE EE EE eee 23 ho > Ve Py-fio KRi2 =O > fu Be = FE alia) = > RG Db 1% hy = thy + Pee = +h 3% FRE y We given kre Kee >o +2 py yo 2k 2Kee 4 2 eo Kr 42. > Ky wep He woo A Aeyg tohcaly sao The differerdiol epuahion's tieble cA origin,24 oR ce 23 @ywe+ Ke +e =e os. mebl: ME x, WG = HR, TKKG u Ne oC + ie = ant tom 3 = any tam (—% “hem at) = anny + ane, UKE x V= ~2kx OK, a Ustish sv negafive ckdinite Pence tte een asymp thie System Pee 6 . s : : . . . . s q ~ F - . - . 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