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Chapter 3:
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(a) Open loop, dc-motor, speed control system (b) Block diagram; input
voltage to the motor, output of (non linear) power amp. Representation
issue for NL blocks.
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M(s) = Y(s) =
R(s)
M(s) = Y(s) =
R(s)
G(s)
1 + G(s) H(s)
G(s)
1 - G(s) H(s)
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negative feedback
positive feedback
x
(t) + 2n x(t)
+ n2 (t)x(t) = n2 u(t)
2n2 sX(s)
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n2
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H_1(s) G_2(s)
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1 + G_1G_2H_1
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Y (s)
G1 (s)G2 (s)
=
R(s)
1 + G1 (s)G2 (s)H1 (s)
Y (s)
G2 (s)
=
R(s)
1 + G1 (s)G2 (s)H1 (s)
So disturbance interferes with controller signal and adversely affects
system performance.
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Simplification of SFG
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SFG Terms
Forward Path: a path that starts at an input node and ends at an output
node and along which no no node is traversed more than once.
Path Gain: The product of the branch gains encountered in traversing
a path.
Loop: A path that starts and terminates at the same node and along
which no other node is encountered more than once.
Forward-Path Gain: Path gain of a forward path.
Loop Gain: Path gain of a loop.
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