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1. Cheng D. K. Analysis of Linear Systems, Addison-Wesley Inc )959

Publisahing Company;

2. DI Stefano III, Stubberud, Williams, Feedback and Control Systems, Schaum's Outline Series, McGraw-Hill Book Company, 1967 3. Kuo B. C. Automatic Control Systems Prentice-Hall of India Private Limited, New Delhi, 1970 4. D' Azzo J. J., Houpis C. H., Linear Control System Analysis & Design, Conventional and Modern, McGraw-Hill Book Company,1988

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ilJTil :2 j719

l:::;l]il

N WDlil '7w Jl''7W]'TJ

m.un LJD rWil'7

W' Jl~T '71J

.dis) n-ns-nn illJl9ilil

LJm~l .1'1TJ il JlTJI]

T(s) = Yes) = F(s)G(s)P(s) R(s) 1 + G(s)P(s) Td (5)

(2.1)

Yes) des)

pes) 1 + G(s)P(s)

(2.2)

T v(s) = u(s) = -G(s) n(s) 1 + G(s)P(s)

Ui

(2.3)

ilJTilJ

umu '7w

11~TJ

rrr ts

mrnn mrun
'7v

I:::JUTJ'7D lJ'J::$il'7

uu

il'7~ lJ'lWjI

mnn .rr.nn

.lJ'~JlTJ

Gis) lj7Jl

rrmn

ilJTil '1'

mns .nru

P(s) J'::$' ~'7 T'7ilJl

'7lJ J::$"'7 iru .1 .2

.mn .mn rumr nn , T(s) rrunnnn rnron nuur. in:

drs) nnx-nn
illJl9ilil '7m Jl''7''7Wil

nnusum Jl']l:::;l n-mn: uu .3

.runn nnr '7w n-inrn n runn '7v m'7w'7 trn .4

. Pis) l''7ilJlil
'7n llnJ lJ'J1W lJ'ltlTJI9'7

Tts) rrurmnn '7m rnur rm

Jl~ 1'tlj7il'7

in: .5

nusumn

Jl~ JWn]

.nnnam>

'71'7D

'runn .nnn llnJ

k lJ'lUTJ ltlDl9W
.11JDil

W]J ,~mn'7 '7w JlllDTJJl

.nnn

~'il

rnur.rin

Jl'::$jlJ19 '7w

rrrunn

O---+~O----+o----~~

S
k

dT / T dk / k

dIn T din k

(2.4)

1J lJ~

. G(s)=k W w]]

1J'71

T(s) =

kP(s) 1 + kP(s)

Jl'9101

dT dk +kP) kP

+ Pk) - PkP

(1 + kP)"

P =--(1 + kP)"

----=---

IT

dk / k

(1 +kP)2

=---1+ kP

(2.5)

4-2

(Feedback) mnn ilJTil :2 il19 . 1/[1 +kP(s)] 111J J mtlilln

k ltlnl9J
mcn1-'~1

T(s)

rrnnnnn

mW'Jl1

JmJ

mp.in

nJ1Dn

11/Jn

1mJ

k 1ilW I1J ltlTJl9 'm:u

.mrurn rrrunn nnman>

,11J'O

. 2.3 11'~ il~l

,j

i . trrms 'JW l'J trn« I1nJ1

.rrum

mn/~J

rmn nn-ns .2.3 l"~

19'OnJ

.D'J/W

mrun n«

D~JJ

rrr-rr

IW il'O']]

m«

I'D9]

k l/ilWnw

ij

'lmil n~

nnsn

,R il'O']]il

m~ '09~J
,

.1

P2 il11i7J1 PI il11i7JD rrnnnnn 'PI

rrnpri 'innn man rmxm 'rrrnn Y2 rrnpri

.mnsn rmn

IW lJJilil il'il'

.ia . Return ratio

'innn men j'JI

ill ~ljlJl I

T, J
'

ilJDOJ

'znainn mc(j11'J

ansnn .2

. Return difference
il'O']]J

rrr-rr rmsuri m«
:;i: ~)

I'D::!] J1Wl,

1JJil

DD

bj2 ,1n~ 'lJDJ .nnn n~ nnsi .3

. 11JJil DD

unan . (T;
~'il runmn

TI -rmsuri
:;i:

il1lj1JJ ll1JW

'inn

nm IJilJ

-unn
il'il' IW

1ml

j2

nrnnn . F;

F, IIJ

~~m ilT mpm .tmm i-rr Fk

DJ ..FI=l-~ IW

rnrnsn nnnnm n ~Jil

.SFG il rrnru lTDilJ ilnJ1ili

nnnm F/
.k 'lJDI

rms.i

'11Jil

~ il

n« man>

IJ1J

.mns

1JP~ 'lJD DlW D~

onru .nrrnn

lW~J

= Llj

k=O

5-2

(Feedback)
Nlil k lWNJ IW

mnn ilJTil :2 vl9 i nmx

]'J

.mns jl'TJrDil

j runx»

q il n'nrjlil

rrnunnn N'il M;
NFl 6. q k

nnnnn.i

unns.r

lJ..11JlJ'NW L':,k il/W

arur-mur m V/n irn«

.mns k CjJlJillWNJ
IJjll
'1J

Mq

Mason

IW lJ..1ilil

nnnua umnun

]JI

F~=1-7;,

=1

~(-kL 6.

Mi:.\)=~+k2:
q

til<

(Jviq6. q)
q

"Ik
Ll

'rn

.0
rmrri

IJilJ

I CjJDil lUD lll/llJ9

'inN)

]lllN III llTnJ

TIN . F,

6.
=-A-

D.

rmrumn

TI'lDn usum

,jI'DJ "OJ WJn

.TI'lW 1

F, 1 F, IW TI'J1TJilW TI'Nll
IW

lWnilJ

il/l1..1 rmu.n .nlNJil

ilTil LJ9Wnl .TI'ilT nlNml1il 'nWJ

F,
uu

F,

u-rmn

IW TI'TJ1J'/19ilW .nm::nilil
:3 'un

nr

tl9Wnil/W

rmumn

IXml1

do R
1

o--+-----{)

lis 1 Y --+---0-+--0

-1

.1 'un

IXnJl1 IW

SFG . 2.4 ll'S

(Return ratio)

7;.}
Js
(s)

} =:

}(s)

6-2

(Feedback) mnn

;l1i:i

:2 j!1::1 s Js+k] /s Js
2

P?l

1~2

-J'5

=k: k1 1+J,;,2
S

+k]

F~~2

!,2

1+

,11'2 +k]

Js2 +k2s+k] Js2 +k]

D: (s)

n.; (s)

D(s)

r:i
D:i T;1(s) IlJ

=)

Js2 + k..s .1,,- +k2s+k1

"

= __

Js2 + k2s

D(s)

_;:__

?ill1 T(s) 7ill :-JJJIJ;-J ?ill D~lJn~?I::1:iill TJJ IT ~7JlllJ m~:nm

,nnn~ D~71JJ .

?ill mJ~IDn;']

l'J DlllDTJDI

F»

Fa ?ID D'Jl7J;-J ?ill tPIJU'?1::17 tP1\ll m D;-Jl ! D'lill

illjlJ llDTJJ

TJD TJ']]TJ UJ1lilUJ IlJ

nrmn

nlJTilTJD

-nm mF~'

IlJl 'ilUJ ilO']]

TJ'lUJ TJ'TJ1J1/19

?ill 71111:);-J ill D11'71::17 ;-J71T :iT:i 1J11'?1::1;-J .(nltJ]]'TJl1.H) ? m )

. (1;-Jill ?1J

k 'lliJ 11JiJ Fk Return difference

G(s)P(s)=L(s) ~mJ?

Return difference n ~1;-Jill F(s)

l-[-G(s)P(s)]

= 1+G(s)P(s)

T(s)

PF(s)P(s)G(s) 1 + G(s)P(s)

PF(s)L(s) 1 + L(s)

PF

R0

.,

. -P-_o_____..

p--o----c.,..~

mJ"Y/;

'mJ:-1·'~m J."rilJ

l'\';-J 'lnOill lm:-1?ID

'(\J1l

D(s) ;-JtJJl'lJltn;,
:-1J1'(\ l iro

D'ill'llill:l

mJ':!:' nJ'llJlJ

»on

.1J'J.':l;' D:-1'l~ 1':-1' (4.3) 1)]

(4.1) 'lJjJ7:J;-J m':!:j!Jl!J nID1?ID

TID JlJIDDJ Jl'~i/]19

1ilUJ 11] qm

rm-ns.i
.nru

ililT e<'il D(s) JlJ1DDil

nun-me rn
ilcDil

.trnpn

i/19J

lJ'e<lUJ '9J nurn lJDD

11] ,ilUJDDI .ruo

rrurnnn

nix DJi/JlUJ IT e<'ill .rmnn ill1~J IW'JlI

runu

T(s)

N(s) D( S)

kIT
IT
n

(s+z;) (s+ Pj)

b
oS

b
IS

m-I

aos

n ..l..

,als

+...+ m n-I, +an Too.

(3,1)

. m :::;11 ,Jl'/i/'PJ

JlJIDDJ

,ilDTj7ilJ

1]1e<1 IJJUJ

'9J

,1DTilllUJ'TJJ

lJDD

ruun

.3,1,1

IUJ rrnsn

D/91

mnnn
IIJ

Dl~J llTJ

'''D inrn

llUJ'DJ

T(s) IUJ Jl'JTJTil ruunn

JUJnl

nco( IJj7/1UJ9e< nu ,1JI

, "01]1119 Jll1~J .1JDDil TI'/lJ'

urr'n Dts)

IUJ TI'UJ11UJil Jle< il/'nJl D(s)

.Tts)

Jl'~j7]19

IUJ TI'JtJi/J

TI'lTJlTJ nm«

IUJ TI'UJ11UJil , (3.1) ile<lUJDJ lTJJ

TI'09e-<il1 tr mpn

,1JDTJ Jl'~j7J19

IUJ TI'09e-<J TI'lTJlTJ Nts) IUJ TI'UJ11UJil IUJ mW~D'il

lJD ,TI'JJllTJ DJ1] lJTil le-<TI"WDD m'ill ,TlTJ~ D:m W JtJlj7

IUJ m1e<~D'il J"nTJ JJllTJ

TI'DlP/19il

D9e-<W JtJljl

IUJ TI'DTj7Dil ,Jll'/j7'T'9 s.= or+j», JJ1lTJ

mJ1DDJUJ

09e-< W JtJlj7 TI"j7 TIe-< "e-<.r .TI"WDTJ tin

N(s)

lD(s)

.nurtn TI1j7DJ
TI'JtJj7il Jle-<lDOI TI'JtJp ']W TI'D'9lD

DlT'

~ lJDD

1I,Jl'TJ~Dil Jl'~PJ19

rmrm
IIJ
llTJ

nru

.TI'JtJjll

D'09e-< IW J1 190TJ JllllJ lDJ ,0 'T' 'D TI'09e<ill

1]

,3,1 l"~J

.x

'T'/D

'OP/9DlPil11W'DJ ,Jl'We-<ll Jllp uu

.nvrxn

Jl'We-<lD 1m'

nprm

,TI'JtJPill

TI'09e<il lJl'l

tr rnpn tr mpn JlD9WilW ,il/e-< TI'JtJPI

1Jll' TI'JtJPl ,TI'l'~il

TI'DPWDil J1Wn IW TI'IWWD Jlle-<lill nprn

r

trptmn TI'09e-<il1 truupn JlD9WilD lJll'

llWe-<l Jllj7J D'Jllj7il

Jl'JTJTil ruunn mil DJ~e-< IIJ

>n Jl'We-<ll .Jl'WIX1ilD

D'09e-< DJlW Jl'WIX1/lJlP

n-nnv

irn ,IT

nrrunui

D'09IXil1 D'JtJPI

nnu un-xn rrursm

6-8'9

nprmn

'Ofl'79nlj7il

lHlJ'DJ

T10' 'JWm

:3 fll9

JCO

Is

= CY+jco

x
x

x
x

;' ",

X X

x0 .tr-unnrtn tr mpn rrrun

D'JrJjlJ nnurnnn lljlnJ 3.1

IF's
IJ'JrJjI '7D lJT'7 n'OJ~l'7 lnl" ,1J TIC-( J1ilJ r D'09~il1 '7OJ.

.rrrnm

n.runn

n« D'DJ1j1il ,D"l'JJPDn

,'7"Jil D''7lj1OJil '7D lDnOilJ

.uvrxn
D'JrJjI

IPJllflil

n~ "OJ lljlnJ

.jumru

.D"l'JJPDn D'lWj7 ~~ml

,D'Ofl'79nljl

'JW n'7'7lJil OJ il'7~J

lJDD n'~jlJ19

.tr nur'un 'JOJJ D'JllpD

.rm-rnn nur'm

D'JrJfI '7w nnurunn

.1DTillHU'DJ. 'DjI;9Dlj7

J.tJljl

nurunn

.3.2
WJJ

'7 nJl1j7D

lJDD rrxpns

,1J D~ .COn '7 n'7Dl1Jn n'~jlJ19)

n'D~D

rm-m>i DD . ~

.nrrm nunn

nTW9'7

nunrn ruunn

n« ~~m

R(s)=l/s ilO']] rmps

OTj7D ~lill~OJJil

'W9lnillrJDl9il

n-nn rrnsnn rnnnnn.mrrm

I (3.2)

. 3.2 ll'~J

nnru

D']lOJ llO'l

'DTjlD llJ.D nrrm

rnun

2 -3

'Df/i9Dlj/il

llW'TJJ

11D' 'JWlTJ :3 j/l9

2i--------,-------~------~
1.5

zeta=0.1, 0.2, OA, 0.7, 1.0, 2.0

0.5 -

O~------L----- __ o 5 ())t 10 n
L_

15
IW ilJl1TJ

.1]'J1W 1]'JllJ'l

DD 'OV'!9Dljl

Jtlljl

nlllJil

lJDTJ n'~jlJ19

ruun.

3.2 ll~~

n runn

,"omm

.1lD'lil

D1i/TJJ

nrzru

In'il

rrrun nn«

ne<

.ramv

uu

(3.2) ile<lWTJlmTJ

ilC<lWTJil '1' iD

nnru n''ITJ'Df/TJil

= 1 + e-';7rv,-q
'/~

(3.3)

nnn

ilJ1We<lil In'il

rnun> 1ml
(3.4)

D'e<JlTJ

nunn

DTjlTJJ

rnvru

11We<lilln'il

nJ1Jn

lTJTl In'il

nJ1JnJ I

nn«

iw nm~m .3.3 ll'~J

I
I

1(

-,-------

I 1-

100r-----------~--------~ Percent , - - overshoot' - - -,- - - - - - - - - - - - - - ,

I I -I -

0.9

1
f

--1--I

,-----I I

- - -1- -

,
I I ,
I

I
I I I i
______

4.2'

;--l---~
f I

I
f

I'

---------~-r--I
I

1-

I I

0, 1

O~~-LI--~-------J~----~

01

10

15

ilJ1JnJ

nrrun

.4 ll'~

.rn-n ruun

In'il

ruun

nn«

.3.3 II
. I IA I IIJ I
--. .. _, ............... l....,

'Dj719DWil

llW'DJ 11]]

1lD' 'JWm

:3 IW

mtn

mil

T, .'lJ1
.rrrunn

T, .t, il'llJ]Dl
IW 'rnrm

.nmm

rrrunr

nrrr.in
J:::\'Jlill

19DD 3.4 lP:::\J ruun> nj71lil

(3.5)

J:::\DJ lllJiln

2% D lljj7lllJl

r-n lJlJDil Jl':::\j7J19 IW D'Jljj7/W PlnJ ,ilJ'~'

."'Ii:<':::\JJ191JJi:< 19mJ JllJ':::\'

rr-nn Jl'JnT n.rurun .D"/'lw

'1J

,'IIJ

19mJ

nrrmn-

D'i:<lli? illi:<J JllJllJDI 'JllJD IW D'P9m

D"WDD D'JllJ 3.6 lP:::\J

.Jl'J'DI19D'i:<il

truurr

,D'Jljj7

D'lj7D D'li:<mn

Corresponding impulse response

Roots in the s-plane

JCO
t

- cr

-(J

IX

(a+j e)

t
X

a
(a-jro)

.>

v_~'C--e
+o.t

(--a+j ro)

(-a-j ro)

sin cot

.D"J'9m

D'Jljj7 'JllJD

llJlJ

D/19n'

rn.ru.:

.3.6 lFj

-3

'Opi'JDlj7il

llW'nJ

110' uunn

:3 j7l'J

llW'nJ

rnns

irm mnu n ,nl'le'<']'i-cxi

.lnl'J

,nl'lC<'J'i nli'D'

m.ruin.i

rn.n

urm rnn-m
ilil'< .rn

m-s u nm-u
lJDn n'~j7]l'J

rrnn
''JJ

n'iiJil

illl~J

.O'JtJj71 0'091'< '1' iD

'It)

n.nn
NRZ

,1J'l'<l lJJW

T(s) ==

I1 (5 + ZJ I1(m s' I1 (S + pJ I1(m

K
J !vRP J NCP J J

NCZ

nz"

C;:l )
(3.6)

npi »

C; pJ
llW'niln llJlJi '1J

Ci

nl'< 091'<J ,0) rrumnn

rmrnn

llW'ni

s=

Ci

+ jro

.rrnnn

ilNJil rrnxn

nl'< iJj7]l

(3.6) ill'<lWnJ.
(3.7)

T(s)s=)(1) == TUm)
. ilnNnilJ

== Retr»)
O'j7inil Oil

+ jIm(cu)
Im(O)
1

T(jO)

iw

n-nrrnm nvumnn

Re(O)

lWI'<J

jIm

¢( cu)

= tan-

Imtr») Re(cu )

(3.8)

Ol 1J

rl
¢(eD) . Re
TUm)

= IT(jm)l[cos¢(cu)
= IT(jw)leJ¢(W)
I

lJil

+ jsin¢(cu)]
(
3.9)

G(s) =
.liw nll'1nil ruun nl'< JWnJ.

s+cu

mJ

nn
J

:'1 I'<nJn

s=-O) , J upmn

nun-n

-umn

JtJlP lilT

IG(jm)1

(3.10)

Oll

arg[G(jcu)]

¢(m)

tan-J (-m

mJ)

(3.11)

5 -3

'Dj7/9nlilil J TIj7lnDD9N 'Jll lJlilil . WI Dll'1DJ lJlilil1

llW'DJ 11D' uunn :3 ill9 npmnn nuus 'WDDJtJlil IW nrsrn lJlilil .r.sn ]nDJ IJN , (3.11) ilN1WDJlnJ nnn
,(3.10)

nn il/N nrsn WI

'j7/n 1nN il'il'

ilN1WDJJtllj7il IW

.cd, ~ unru

oi,

nurm

Dll'1D 'OD']W l1TID JtJlj7 rr'n :2 'UD Nmn

IJilJ1

s = jo IT ilN1WDJJ'~J

.rrnpn

119tlJ

im

(3.12)

nr:n nrnrn
arg[G(jOJ)]

= tan "

1-(:J
OJ"

OJ -2q2

(3.13)

19UD nl/'JDil mWl/IJ1J

lJDD DP~jI]19 IW

nrsi

t.un

J1Wni WDnWJ (3.13) 1D (3.10) nlN1WDJ .']W1 llWNll1UD D'Jtljl1 TI'U9NIW Jl

(3.8) 1 (3.6) nlN1WD llnD

.nms:

(3.14)

.uu.mnn
IlJ

'O'U9Nil ,TI"WDnilTI'U9Nil 19UDDN 'O'JDDDNRZ,NCZ,NRP,NCP

lWNJ

.nn NnilJ TI'.rmn il D'Jtljl ill D"WDDn TIJtljl il ' 'OlJDruns ,'O'09Nil

11] 1m u-urmrtsn DlJO il'il'

lJDTJil n'~jlJ19 IW nmu'ien m ,TI'J.tJjlil/W

u-nmu ian

arg[ T(j co) 1 = ~ tan - {ll"'J

2q
tan -t

_!!}_

-1-_-(-",-:_:':=::':'_]---2
nZl

(3.15)

6 -3

'Oj7;::Jmpil D~J; W' (3.14) il~lWTJJW lJJ C]'1Dil

11W'nJ

110' 'Jwm

:3 j71::J J1Wn; IT

msrn

1JJilil

;W ';;Jil

num

;W

unn

J 1J.1ilil n~ JWn; lJ'/J'~1J lJ'lJJilil

Bode .lJ'J1lllil lJ'JtJPill

1nn '1' ;D ';/Jil 1JJilil

lJ'09iXil ;W

nvrunn
lJ'r lJ'JtJj7ill

;W nl;9Jn

'mn n

n«

Jwn;

IDl ,TI'/J'~1 lJ'09~il ;W

.~.T

.nnum

.: ( 1--,ev n=r

+ 4t}ev2 _~r

,
-

ev

nzt

(3.16)

110n

numn , nrru

TI'Jtlj71 TI'D9~ IW

nnurunn

'91..1 19mJ

l~nl

1e<W] ,lJ lJe<

.rmrru nrzrn ,']W

.lJ'e<Jil

tr mon

ne< D~J] (3.10) ilmWn n1TDJ . 7OJ7J7J .J/J7;7

IG(j",

)1" = 20 log"
nurunn
n~

~ 1+

(~r
=

0 1 1 log" ( + :,',

IW

u-rnnn

ilWl/WJ

1J..1ilil

prr:n .rmpn rrrr m

I

Wil

0)1

1WNJ

.mrr-tn
:
0) «0)1

iC(ev)idB -+ -10 log., 1 = 0 dB

Dl9W TID nmusn-u« Nlil '91..1il1lN'nil1 ,lJ'/J'~1

ilT mrtrn

mnru

.N

0 N11i 1J.E1il
0)

.nr

rn-rr-rr
,lJ';J'~1

mnn:n O/W

lOglO
"N.T,

1'~ DD 1J;nnill

IG(jwli,B -+ -10 10g,,(:,)'

,-6.0206

= -2010g,,(:,)
dls/oct-,

nr tnnrn

: OJ»

OJ,

.J

uu.sn

1W' lj7 C\lil '91..1il 11wnill

-20 dls/dec

vtu 'nltJ9WOC\ Dl9'UJ

. COl rm-rnn ;W llDJ

.j7'nnJ .'Jl'n';J

loglo

co l'~il
tnnn

nN ...1

1J.:lilil nN Jwn';J W' 1J 1]"J'Jil nC\ C]';nil; '7w 'ntl'lJl/-'~n

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l---~-----r-r--T
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1 -1--I 1 -4 I --I--,I--I-~-I-++-I I I I I I

1I

I- -I -I-II III III I 1I I I I 1 I I I

- -+ - - I

+- - ~
I

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I

II 1I

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11-!I 1 I I

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lJ...lilil

npn

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.impn

tnpn>

'?TJl1Jn nrr-rnn .ilElil

l'::$ ,"WDD J.mp rnnnsnn

'?m lJ...lil : 3.7 ll"::$ urr :

C .mmtJ9D'DiX'7

.-, - .J

'Dj7'7'JTIlj7ill1W'DJ.

11U' 'JWlTI :3 j7l'J

nrr

rm rmru

(U'Je< lC<) 'WDTIil J.tJlj7 '7w nnsn

run nmnsrm rnnu 3.1 il'7J.tJ

mj7D'7 n'7T.1l1J!J

.(USe<il 'lC<) .impn .3.1 'UD ill J.tJ

OJ/OJ)

GdB
-0.0432 -0.0966 -0.1703 -0.6446 -0.9691 -1.3354 -1.7319 -2.1484 -2.5768 -3.0103 -5.1188 -6.9897 10.0000 -12.3045 -14.1497 -15.6820 -16.9897 -18.1291 -19.1381 -20.0432 -26.0314

Phase deg
-5.7106 -8.53,)8
-11.3099

==========================

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

-21.8014 -26.5651 -30.9638 -34.9920 -38.6598 -41.9872 -45.0000 -56.3099 -63.4349 -71.5651 -75.9638 -78.6901 -80.5377 -81.8699 -82.8750 -83.6598 -84.2894 -87.1376 llTnJ ,J.JllTJ J.tJlj7

J.tllj7 llJ.D 1m~J.W ;19tJil;D

nurunn 'J..:J; . :LJ77D (D9&) ::n:J7P

;J.j7J (3.12) ilN1WD jtrrn .'WDD

IG(jOJ)I&

~-201og," [l-(:JJ
.n-nmn

+e!~r
lOglO
OJ

'JW; ::11w719tJil nN' j7/m

l'~

lJD 1J;nn

nr 1JlT]nJ.

numstrnen p;,iG(jI'U)idB

=0

nr
in

nmrn .1'U«l'Ull.N mnru

.l'Un «OJ

.J.

IG(jOJ)I& -12dB/oct
lC<

~-2010gW~(1'U)4 =-4010g
(j) n

1o:
n

-40dB/dec

IW Dl9W ilT rrr rr

rn tnnru

iltlltJ9TI'UN;

1J;

.C;: nmn

mj7DJ

iVl'ln

rrrm

lJ.Jilil

mTIlj7D '7w

rmxn
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.(3.13) ilNlWD '9'1 .3.8lr:D

n-un

rnarn uunn

-3

'Oj7;::Jnljll1

llCD'D]

110'

'ACDm :3 j71:J

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I I

1 I

I 1

-20

__________

1 L

1 1 I I

I 1 .1 I

L __ I_
I I

__

.l

L __ L_.l_.J_.l
J

1 I I

I I

----------r-----~----1---~I I I

I I I

I I I

- +- - - I

_1- - - -

1- - - :-- -:- -1 - ~
I

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I I I I

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I I I I

__

G(s)

l]J ill 1]']1 pn

b .ltlD19J 111]'111 '01j7D 'OD '0 1.0 COn I rotrmn t('i1 rmrnn
r

1]'l]]il
ilT9i1 :

:a .3.8 lr~ c: .rnmusn-nan

'Dj/'I9TJljlil llW'lJJ 11D' unnn :3 il19

,0.2 ,0.1 ;lD'l trrpn 'Iw TI'ljllJil llJD ilT91lJ]il

. UJn

'Iw TI'j/'nn

TI'J1D runu 3.2 il'lJtJ 1.0 -1 0.8,0.6 ,0.4

'I n'llJl1m ml'nJ

nrzru

3.2

rrzm

G(S)

S-

,.,

+ 2Swn + WnGdB
0.0802 0.1813 0.3245 1.3596 2.2004 3.3050 4.7044 .6.3451 7.8068 7.9588 -2.8387 -9.8408 -18.1584 -23.5710 -27.6343 -30.9017 -33.6396 -35.9980 -38.0706 -39.9198 -52.0212

l'

·S - u? .
._,

G(S)

S2 +2Swn

+Wn-

?;s=O.l; Phase deg

========================
OJ/OJn

======================

Phase deg
-2.3137 -3.5125 -4.7636 10.7843 -14.9314 -20.5560 -28.7676 -41.6335 -62.1759 -90.0000 -154.3590 -165.0686 -171.4692 -173.9115 -175.2364 -176.0773 -176.6615 -177.0922 -177.4234 -177.6863 -178.8514

co/ Wn
0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

GdB
0.0855 0.1936 0.3470 1.4752 2.4222 3.7263 5.5331 8.0911 11.6431 13.9794 -2.1814 -9.6190 -18.0862 -23.5342 -27.6118 -30.8865 -33.6285 -35.9896 -38.0640 -39.9145 -52.0199

==========================

==========================

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

-1.1573 1.7579 -2.3859 -5.4403 -7.5946 -10.6197 -15.3501 -23.9625 -43.4518 -90.0000 -166.5043 -172.4054 -175.7l08 -176.9471 -177.6141 -178.0363 -178.3293 -178.5452 178.7l11 -178.8427 -179.4256

IN IF'Wnn 'D'D9cCl lJ11n IIN .J.Jlln ,mN'IJtJil1

m 'illnn J'EllP II'lNnn

nm'lJtJill

'D'91.lil

n-srun vm

II']lJ'Dil TIN9''Inil'l

ill' .tr rrnn

'Dj7;91Jlj7il

llW'DJ

11D' 'JWm

:3 i7l9

G(S)

2
7 11

s-

+ 2C..,OJ n + OJ
GdB

;(=0.8;

G(s)

=,
s"

OJ"

+ 2 (OJ

"

+ OJ/1

2;(=0.4; Phase deg

4.6199 6.9987 -9.4623 -20.8545 -28.0725 -36.8699 -47.6754 60.6422 -75.2173 -90.0000 136.1691 -151.9275 -163.3008 167.9574 -170.5377 -172.1910 -173.3456 -174.1994 -174.8572 -175.3801 -177.7037

======================

======================

OJ/ OJrJ

Phase deg

OJ/ OJrJ

G dB
0.0590 0.1327 0.2356 0.9259 1.4116 1.9382 2.4132 2.6825 2.5610 1.9382 -4.7748 -10.6296 -18.4361 -23.7151 -27.7232 -30.9623 -33.6835 -36.0314 -38.0968 -39.9410 -52.0264

==========================

==========================

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

-0.0247 -9.1805 -0.0565 -13.7946 0.1030 -18.4349 -0.4735 -37.3039 -0.8009 -46.8476 -1. 2424 -56.3099 -1.8027 -65.5175 -2.4748 -74.2914 -3.2422 -82.4836 -4.0824 -90.0000 -8.6466 -117.5120 -12.8421 -133.1524 -19.3972 -149.0362 -24.2482 156.8937 -28.0618 -161.5651 -31.1964 -164.6618 -33.8551 -166.8660 -36.1625 -168.5153 -38.2003 -169.7960 -40.0247 -170.8195 -52.0473 -175.4147

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

2 2 ;(

'Gt s)

=
S2

OJ"

+ 2(OJn + OJn

= 1.0 ;
deg

G(s)

=
S2

OJ"

+ 2(OJ" + OJn

2 ;(

= 0.6;
Phase deg
-6.9112 -10.4337 -14.,0362 -29.7449 -38.6598 -48.3665 -58.7363 -69.4440 -80.0223 -90.0000 -124.7778 -141.3402 -155.7723 -162.2553 -165.9638 168.3756 -170.0738 -171.3359 -172.3116 -173.0888 176.5578

======================

======================

Phase GdB OJ/ OJrJ ==========================

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000 -0.0864 -0.1933 -0.3407 -1.2892 -1. 9382 -2.6708 -3.4637 -4.2969 -5.1536 -6.0206 -10.2377 -13.9794 -20.0000 -24.6090 -28.2995 -31.3640 -33.9794 36.2583 -38.2763 -40.0864 52.0629

OJ/ OJrJ

GdB
0.0240 0.0528 0.0913 012872 0.3503 0.3245 0.1516 -0.2169 0.8009 -1.5836 -6.8147 -11.6909 -18.8627 -23.9452 -27.8675 -31. 0614 -33.7558 -36.0865 -38.1402 -39.9760 -52.0351

==========================

-11.4212 17.0615 -22.6199 -43.6028 -53.1301 -61.9275 -69.9840 -77.3196 -83.9744 90.0000 -112.6199 -126.8699 -143.1301 -151.9275 -157.3801 -161.0754 163.7398 165.7500 -167.3196 -168.5788 -174.2752

0.1000 0.1500 0.2000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 1.0000 1.5000 2.0000 3.0000 4.0000 5.0000 6.0000 7.0000 8.0000 9.0000 10.0000 20.0000

12

-3

'Djl/9TJljlil n'~j7J19 , lm'J '/IJil 191inw

llW'TJJ ilenD

T1D' '~WlTJ :3 j7l9

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3.6 ,ilNlWTJ .(D'77UN'SJ7!PT IlJ

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11'11' lJJl1il/W

ilT9 ~'DlTJ llljl~m'lX lJ1SWil ,IJ'/J'~TJ

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lXiil Hn lltllJljPIX 11JJ

Il/JI

il/lJ'

lJ.un .111.19

1JI .

IW lJAilil

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-6dB/oct = -20dB/dec

.lJUTJ n'~jlJ19

IW 'Jl/1J
,(3.16)

lJJil

.3.4.2

nvrunr
IJ'/Jj7nTJ

DlJD

rrrr

lJUTJ n':::Ij7J19 IW IJ'/J':::ITJ

lJAilil

ilIX1WTJI mmilJ. '7w o''7J.':::I'TJ.

nlXTJ illl:::lJ

.IJ'JJllTJ

m IJ'WTJTJ .nvmvrn IJ'D9IXilTJ

'rn IX11]

L(s) = (1 +s/3)/[(1 +sl1)(l +s/2)]

.1 iln.1n

.nn
Tl9]]

lmnil

'J.I W
lc<n .1

tr mprn

IJ'D9IXillTJ Tnc< '7lJ '7w ilT91 lJAil

Tl9]]

.mnm m-rr

rru

tr umn '71] IJJO .2

l1":::IJ

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rnnru

nm~mil

10

rn

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c:

-to
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60
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0,)

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0,)

..c:
a,

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fJ)

o
-30
-60

L( s )=( 1+s/3 )/[( 1

IW

3.9 lr':::

13

'UiI'79TJlilil llW'nJ

'nn: 'JWlTJ :3 il19

.runn J.:::mJ.lN']W i
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.3.5

ruun>

nur-rm

.rnrm

J::5nJ iliX'JWil ,11lJ 19mJ

rrzun

n.norn rrnun>

n9DlJ ilU']]il

nurrr .mnn .rrrurnui«

illl::s]

rnn-i

ilJPiX Jll'll

rrrr.nn .rrnrr

J::5nJ iliX'JWil niX l'iJil'7'7JljITJ ,il::5mn m

iliX1Wil 1](u'I

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rm-nn .nrrm
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miX']Wil

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nrznpnn rnm nuuumn

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Wl'7WJ >n

rruu .un nru omnru

lion niX

mu-ri nnn

!:JiX TI'TJU9'71 .1J'Iw

nmvn rrmrnn

rmun':

r(t) R(s)

y
.r-nnn

e(t) E(s)
~

L(s)

crt) C(s)

1
J::5nJ miX']W mn']'7

I
nJ1Un

I
,3.1011":':1

.rnnnn
E(s)

J::5nil nN']W

n« Jwn'l'7i1
(3,17)

__ R(s) 1 + L(s)
'910il11Uil1.'l9Wn]

'7JiI'I

'1]

0'19'1

rmnn.ri
s->o

umnnn
(3,18)

ess

= lime(t) = limsE(s) = lim

1->00 s->o

sR(s) l+L(s)

ln1'TJJl

R(s), L(s) 'Iw m'O'OJ

rnroru nrzn nnn rnnn .nnrm mrr rrr

]::5TJJ ilN']Will

. S -1- O'lWNJ

nn-rriroru ,1lTJNJ .rruu

nU']] nO']] nu']] .1 ,2
,3

R(s) R(s) R(s)

= RST
S

RSTU(t) Rv t U(t) : Ra
l"W'I

.rsn nrrrn rm-nn nrrrn

il~mn n'~iI]19 lJJW '9J

= R~
s

2Ra
S3

U(t)

nrrm
'IlJ'I

nvmrucr-sn

19UTJJ

'rumn

,[J'lOTJ

'rrn

'lW9iX lJUn

,'JW i~n

.urnn

.m tP'l1'7Jil

=
.rrrnm il 110 /Xlil

(3,19)

n«

-3

'U17'79YJl17il 11W'nJ .rsn

11U' '.1WlTJ :3 1719 nrrm nU']]'7 rnnn J~n'7 ile<'.1W . 3.5.1 '7J17J (3.17) '9'7 .nr il117nJ

E(s)

R::,j 1 s l+L(s)
1J'7

e ss

lim
HO

R"" J,
S

s
1 + L(s)

lim
s-+O

R~ ." 1 + L(s)

1 + lim L(s)
S-40

(3.20)

l'1.1J

Kp =limL(s)
s-+o

(3.21)

1J'7

e
ss

--=-1 + Kp

(3.22)

rnnn

J~nJ

ile<'.1Wil tu lJ'7 ,'91U e<lil

Kp'm

,0=1 ,0 'rrtm il'~jlJ19

e<'il L(s) De< :n'91U rrnn

(3.23)

e
ss

Rs:;r 1 + Kp

J~nJ

ile<'.1Wil1J'71

Kp =

00

'm

,1:::: 1 .e<.T

.nrn:

illJ.111Un

e<'il rrrnmn

De< ,'JW T:sn IU9e<nn rnnn

.nrrnn nrrrn

nU']]'7

J~n'7 ile<'.1aJ .3.5.2 I '7JjlJ (3.1 7) '9'7 .nr rripn J 1J'7,

rnnn

E(s)

= Rv
S2

l+L(s)

es (t)
s

= lim Rv
HO

S2

s l+L(s)

= lim

8-+0s+sL(s)

Rv

= lim _&_
HosL(s)

(3.24)

K; = limsL(s)
s-+o

1'1.1]

.nrrrmn
rr nn 1'nnn

nN'.1W D117n J~nJ

-K,

ile<'JWil

e ss
I urcmnn rnnnil J~nil nN'.1Wl
00

(3.25)

'TN

.i : 2 'OC':(W D'Nll

rn

15-3

'Oi//9Dli/il

11W'DJ 110' 'JWm :3 i/19 .il~ll:m nJ11n nO']]1 rnnn IJi/J J~nl ilcCJW .3.5.3

(3.17) '':]1

.nr

rnprn

E () s
-

2Ra
S3

l+L(s)

e
ss

= lim_2_R_a
s-;o
S3

l+L(s)

= lim
s-+O

s2[1+L(s)]

2Ra

lims2L(s)
s_,.o

2Ra

(3.26)

l'1J]

.'110 l'~1

'nm rnnn

J~nJ

il~'JWil ,( 2

>1) ,D']Wn ll:JiI L(s) 'Iw 110il D~

2

s., = lims s_,.o

L(s)

(3.27) ,

(3,28)

.3.3 il/Jl:JJ

mrmn

'rnnn

J~nJ

.rsnn

n~'JW

mrn

1(jJ m~~mil

il~l ~n nur:
2Ra e =Ka
U

rmrm nuri
Rv e =K;
IS

.rnnn
.ixn no']]
e=
u

J~nJ

x,

nW'J(jJ DlJ'O 3.3 'on il'lJl:J

Kv

x,
K

11lJ

1 +Kp

rrrumn
0

il~Wn n~' J (jJ

en = C +DI +E12 -+
00

rmnn

n~'J(jJ

.rsn n~'J(jJ
e=
u

e"CI) = A +BI-+ co

9
K
CO CO

l+Kp

e ss (t)

=D

+ Et

---j- 00

e~s=Rv/K ess=O ess=O

ess=O ess=O ess=O

CO CO CO

1 2 3

ess=2RalK ess=O

K
CO

.r-nnn J~nl
rrrnm> D"19~il ilO'JJil 'J10 D'DJi/] u-nru rnp.m

nW'JUJil rrrnm

-nrpn 'IUJ nnumum

. 3.5.4

nrm

1(jJ u-nmmn D'J'IUJJ m~'J(jJ1 JllW'111

110 inn 190TI mn DlJill .n-n

nmun>

D'DJljI il/~ urris

r

.r-nnn

J~nJ. nl'/D'oiln

UJ' ,lJ1il

rmrnn

nW'J(jJ n'tlJill

run ID lJJnl .nsnun

UJ'UJ rrrninn D'11tJ1]tlJ'~il

in»

W'W K, 1

K». Kp u-rrrpnn

DilTJ tu l]'lJJlj7

.nxnm

16 - 3

'Di//':lDli/ il llW'DJ

11D'

uunn

:3 ill':!

IJi/J ilIX'JW;

(3.22) llnD

,IXmn;

nur

rt nTJ"i/IU

1Jl

.urr:

n';Tn::;i/TJl

ilu'Dil 'lil

'Tell DlXl , rDnD

ST

-e e
55

ss

.Wl1Jil

K, nIX JWnllJ1J

1T ilC<lWn llnD

JSDJ n'/n'Dj/D

1J1

.r-nrm

JSDJ

nlIX']Wil

-nrpn nix IXSD .L(s)=5/[s(s+2)]

.ilSmnl

l'/iln

11m :

:3 'Dn IXml1

rm-nn

,JSD nlD'JJ;1'Dnn

JSDJ nlIX'lWil nIX

. R(s)=Rsrls
1J;

.il.n1n

nD')J
(3.21)

.1 '91

.K;

= lim
S-JoO

5 s(s + 2)
RST ss

00

.e

=--=0

1+00

R(s)=Rv/s2

.rm-rm

nD']J

.2

. eslt)=RvI2.5

: 1JI .K; = lim s x 5 = 2.5 s->O s(s + 2) . R(s)=2R/S3.

:ilsmn nD'J] .3

r;
ess(t)

nIX IXSDJ

= __ a = o
nrns

2R

00

il'iln

T'Ilfll) JSDJ

ilIX'JWil 1JI

,Ka

= lim
£->0

S2

x5

s(s+2)
ll'S

=0
ilIXl

.ilD'DI]

Wl/WI rnnD

JSDJ

nurunnn runrnn

1] 3.11

............... i
ess=O e.~R,J2.5
t .ilSlccnl nrr nn ,JSn nlD'JJ/1DTJ

J.....

numnn

.3.11 ll"S

'D[7;9TIlPil

llW'TJJ

118' ']WlTJ :3 Pl9

T; nn 11m
. 20=

.4

ilTJ.:ln

K» il'il'

nJlJJTJ;W

n'tJJTJil

ni:'< .ium .

L(s)=5K/[s(s+2)(s+5)]

.K;

= limsL(s)
s->O

5xK (8+2)(s+5) K 40 llnJ;

=
D'J"n

K 2

= 20
,jNJTJ

8-3

lJ1cnw

'fJJ

.m'len'l rrrruin
IlJ nlJJj/]

IW nlJ'::i'J 11JO

mpmnn il1j/J

rnn-u rrruin

W1/WJ TJlnJ IW nlJ'::i'il

ilT j/19J j/19J

(W ilJlTJil IW lJ'W11Wil 'r

.nrn

.trnpn

.1+G(s)P(.s')=I+L(s)

R(s)

F«.,)

G(<;)

~----O~----O--~--~0----~.---O 11 (S)

d(S) P(<;)
1

Y(s)

-1
.rnnn
ilJTil lJlJ illj/J nJ1lJD

IW n'JlJj/

ilDJO .4.1 11'~

T(s) = Yes) = F(s)G(s)P(s) R(s) 1 + G(s)P(s) T s _ Yes) _ pes) d( ) - des) - 1+ G(s)P(s)

(4.1 )

(4.2)

T (s)
uN

u(s)
n(s)

-G(s) 1 + G(s)P(s)
nl'::ij/J11J nW1/W IlJ n« . I

(4.3)

il e<lil ,lJT1j7 j/19J IW rrnnnnn IW run 'r nn

1J'e<lW '9J . pes)

, +1 L(s) .ililT 1JDDil J

IW nrmn

n'::ij/J19 IlJ ,.eU

G(s) J .nnn ne< nnsi

:lJ

Return difference
rnnsn .nnn

L(s)=KN(s)/D(s)

L(s) m~le<nJ

L(s) nnn
nm

D(s)

IW~

N(s) IW trummn .lJ'D11' LJilD Tne< IlJ IW u-nrnunun

IW lJ'W11Wil

,LJ'DW/19 LJ'D9e<il un

IW nnnn

.n«: nnn»

.rmsnm
IW .1

mnsn

.nnn

IW lJ'Jtlj/il1 n-unuun

.11.:10il .nnn !W

rmn-mmn + L(s)

vm

l+L(s)

D(s) .nin-rrnrrn

IW LJ'W11Wil nlJ'::i'

1+ K N(s)
-rrrin

D(s)

DCs) + KN(s)

1)(s)

.j/'91JD 'e<Jn ilJPe< IJe< ,11JO JlnJ lJil C]N l'il' .3) 1D (4.1) lJlJDil

rnp in nJ1lJD nlJ'::i'I

nl"::ij/J19 nW1/W
(4.1)

'e<Jn e<'il 11JDW .nnn J"nD n1TlJJ j/'91JD 'NJn

IW lJ'Jtlj/il/lJW

nN il/e<

rmr m

tl19J lJe< .lJ'J'S'

(a4.1)

F(s)KN(s)

D'DJWil

T(s)
mJ'~'.

'runn rmn

zm

ilJJTJil/W

uunuan

Oil

l+L(s) IW nnnn
IW

vn

n-urr.urn
mJ'~'

.nuznm

L(s) J il'l/n

1JI lX'il IT nlJ'~'

. rnp.rn nJllJTJ

rrrr

x-n n1'TJ nIX

m/JWTJil

lWIXJ ,TI'Jl1l9UTJJ

mn-r: nunn

(lWTJilJ l'1J]W)

n-un:

m
.1

1il 1il']'JTJ

(Routh-Hurwitz, Root locus) s

0-+ jWD/9/l1W'TJJ

.( Nyquist, Bode, Nichols) to n'WTJTJil rm-mn unr m .2

OD .IX.T,TI'J'~'

nn K N(s)+ D(s)=Q(s)

IW

rrummn

TIIXi7l1JI

W'

.rn ll'ltl'li7

'91

.'/'/w
lJ llXm'

'WTJTJi7/n

Q(s) 01]"/19il

O() S
~

b nS n + bn_ls

n-l

+...+ b0

(4.4)

'/JTJ

TI'J'~'

IXI D'Wl1W I'JTJ

b, D'TJ1i7TJil ,UlJ

nrr-n:

Dl]'/19il

DIX ill]'

ll'ltl'li7ill

.DTJ~D D'Wl1Wil nIX m~TJI

UJ

urr

OJ 1] .D'WllUJ

n l'il'

illJJ/lXil/UJ

b bn

'11D'il

tl9UJTJil

'91

= - 'Lall

roots of roots taken two at a time (4.5)

'L all products

.~ = (-1)
bn
n

product of all roots

'UJTJTJOWTJ OD TI'UJllUJ Pil'

IXI Q(s) IUJ O'UJllW/UJ lJI

i7'9DTJ IXIIJIX

m rm

'IXm

:lXlil (TI'J'~'

IXI l]'UJllUJ .IX.T) ']pn

.lTJU

irn«

iVil'

1>0
2
4

l]'TJ1i7TJil

IlJ .2

nlJ.':S'

:4 jll::l

DTjlTJ De;(UJn'Jlil; .(J.'~' illl:SJ. 'n;J.

ILl 1m) . DlJ';l::lJ. UJllUJ il'il' DlJ';l::l;

numnn
,IPJ.l'nil

1ln

iljl'1J.;

uurr-i nTJlD;

il;e;( IP~m ';';UJ

'JUJ

D'TJ1j1TJil In'

1ilUJ;J

Routh array nrnnn

ne;( ilJJ.J TI'UJllUJil nlJ.':S';

jI'::IDTJl 'nlJil

'mn

m:STJ; '1J :ile;(J.il

sn

bn bn_l c1 d1

bn_2 i., c2 d2

bn_4 i., c3

»:
i.,
(4.6)

n-l

sn-2 sn-3

D'e;(J.il nvunpn

'::I; TI'J.UJnTJ k;

t. ,d;,

Cj

D'TJ1j1TJil ne;(

C
2

=b
=

n-l

bn-4 +b n bn-5 b
n-l

C
3

bn-l bn-6 -b nbn-7 b

n-l

'UJTJTJD1j1TJ DU D'UJllW Pil' ;W D'lJ.~il ;W

e;(;W 1J;

jI'::IDTJl 'nlJil

'e;(m :UJ.ljI 'n;J.

Routh

lPltJ1ljl

urrmm tr=um
. [ b.; bn-l,
Cl,

Pil'

e;(;W e;(lil (D'J.':S' TI'lJ.Nil

TI'WllW .e;(.T) 'J.l'n ~ilJ1We;(lil rmnun 'isnn

ds, ... jl, kd

'J."n

n~ n;;lJil TID trurmnn

nmcn

msvnn

rson>

illlW il'il'

'WTJTJjI;n

.nrn

rrrrr'

. Routh array il ;W ilJ1WNlil rmnm

1\Jil DlJ';l

Routh array ilDJ :1 'Dn t<nAn

Q(s)=

S5

S4

+ 10s3 + 72s2 + 152s + 240

S5 S
4

10 72 62 70.6 122 240

152 240

S3

-88
240 0

s-"
SI SO

.D'J':'S'-1\;

D'WllW 'JW

;;l] DlJ';19il

lJ;

,lD'D msvrm

'nw

W' ilJlW1\lil

rrnnm

.nn DlP;19il
SI

'WllW .mnxi

= -3 ;

S2.3

=-1 ±j-!3
lwnilJ.

S45

+2 ±j4
D'wn lJ'91il; D';lJ'

nvrrr ll'ltl'li/;

tsn;

illXlJ .D"l;lJJ'D trus un 19DnJ

Routh '9; nlJ':'S' ni/'lJ.J

n« tlW9; D..l

D'llWi/il

lJ DW; lTDJ .T;ilnil

mil DilJ ;9tJ; . Routh

';J.n

'Jl'n

19DnJ. 1\'ilW illlW;lJ;W

D'lJlXil

nIX ;'9Jil;

m j7;n; ;W

'irun

.1 m~

.ilJ1Wt<lil rrnnun .nxn D'JtJj7 m D';l1J D'lJIX D'lJ'9lD lW1\J lmn

nm-n.:

nnmn nuur>
unu-m

lTllJ ilT nsunu

.2 'Dn t<nAn

Q(s)~ S6+ 3s5 +2S4 + 9s3 +5s2 +12s + 20

S6 S5
'1

2
J

5
12 4 20

20
;Jj7Jl

I 3 J.

V;nJ

s s

5
4

1 -1 4 1 7 22/7 20

S3 S3

24

;Jj7Jl

4 J j7;m

6
20

SI s
0

.D']':'S'-

U'WllW 'JW

nllJ'J.:'SD ilJ1Wt<lil rrnnu.i

m-u

nil

-run

4 -4

"O'lJ.Nilln'

'1lJ N'7 mun rnn-um njl'1J.

nmxi nnNJ.

7J.N ,o~m N1il ilJ1UJNlil nnnen "ONiljl'1J.il T7iln

rrnnn.i

lJ.N "oN.2

nuum

:nlNJ.il 7W nlJ.'~'il 'lljlnil "01J'719il

nN Twnil'7 J.

trn ,"O'09N "Oil

.Ql(X) W1n "01]1719 '7J.jlJ1 Q(s) J. s=l/x

nm~m 1nm 1n"

s n« l'nm

.1

'J.J'7 nlJ.'~'

Routh ll'ltJ'ljl

'9'7

Ql(X) '7w D'Wl1Wil . Q(s)

"01]1'719 7J.j7J1 , '7w nlJ.'~'il

(s+ 1) '7wn'l ,(s+a) -mn J.'~' Wl1W J. rnpnn "01)1'719il nN 7'9JJ

.2 W1n

'Nm7

u-rn

Ql(S) '7UJ "O'Wl1Wil nlJ.'~''7

"O"Nm

.Ql(S)=Q(s)(s+a)

. Q(s) vnpnn

"01)1'119il '7w D'Wl1Wil

.3

'on NnJl1

Q(s)= S4+ S3+2S2 +2s+5

2 2

5
.1T ill1WJ.

npus: iljl'1J.il1

'7J.jlJ1

s=l/x J'~J .I1J1WNlil nspmn

1l1il

nN '7'U9J .1

Ql(X)= 5X4 + 2x3 +2X2 +x+ 1 4 X X3 X2 Xl x

0

5 2
-1

2
1

5 2
."O'J.'S' N'7 "O'Wl1W ']W "O'n"jI 1]'71

.ruunenn rrrmm
.il'JWil

"O'Jn'O rns'znn

-rnn

mnvp
.2

'1JjlJl

(s+l)

J.

Q(s) nN '7'9JJ

nspmn

rrm

m~ '7'U9]

5 -4

Ql(S)= (s+1)Q(s)=s5

+2S4 +3s3 +4s2 +7s+5 Routh Wltl'ljl

'91 iljl'IJill

S5 S
4

1 2 2 -10 11 10

-,

.)

7 5

4 9 10

S3 S2 SI SO

.D'J'S'-

011 trnrnm ']ill/D

il011DilV'IJil

Jlill

:lJ ilV'IJil

T/iln

n01TWDil/lnJ il11WI nrrnpn

,D'0901 nn

rrnm

zm D'lJ01il IlJ

D01 .3

nsum

.nusiann

rmumn (auxiliary equation) 'rrn nsrum

il]J.] .1

D'lJ01il DD rrnuin IW D'lJ01il n01L]'/mw lJ '1' ID

Routh array il nN D'/ill] .2 ID D'D9l01Dil

.1TDilnsunn IW il1'Ll 'lnN D'/JjlnDill D'D1jIDil '1'

uunuun . Q(s) nrnpnn

ilNlillDil/ill

D'W11W ru

uri

uun nNlillD lill

trunuun

.3

.nun.i
.I"]il

D'D'9lD il/Nil

usumn nnmum mx

l'ilJ]

4 'ODND..lHJ

:4

'on ND..lH

Q(s) = S4+ 2s3 +l1s2 +18

+18=0 Routh array nN ilJJJ

I

S4 S3 S3 S2 S2
SI

11

18 0 0
2J 2J

2 1 2
1

18 9 18
9

Vim

Vim

0
1TDilillXlillD nIXnrn . SI IW illlillJ vD9] T/ilnill

Q(s)= S2+ 9=0

'urn

6-4

dQ _? --_s ds
nurr.nn il/JtJ ;Ji/J1

s' ;W illlWil

n« D';Wil;;J1Jl

4 S S3 S3 S2 S2 Sl SO

1 2
1

11 18 9 18 9
0 0

18
0 0 2J 2 J i/;m

2
1 2

II;m

.D'.J'::S' Dil DlJ1;19il;W

trununn

vrnn

rupnnn

DD u=nnn

T;ilnil

:5 'TITJ ~TJ.:l

Q(s) = (s+2)(s-2)(s+j)(s-j)(s2+s+1)=
D'WllW TIPjI;D

S6

S5_ 2S4_

3s3_7s2_4s- 4
D'TJ1j7TJ DlJ';19J W'W il1JlDil) .(D'J'::S' ~;

ilTJ::SD;WJ ilD'J::STJ D'JPnl

D";';W

S6 S5 S4 S3

-2 -3 -7+4= -3
0

-7 -4
-4

-4

1 -2+3=1
0

o
lTJJil nN1WTJ ilJJ] I .j7D9J T;ilnill ' IJi/Jl llUJ

A(s) =

S4

_3s2 -4

A'(s)= 4

S3

-6s
rrrm nl91WTJil il;JtJil

S6 S5 S4 S3 S2
Sl

1
I

-2 -3 -7+4= -3
-6

-7

-4

-4
-4

-2+3=1
4

(-12+6)/4= -1.5 6)/( -1. -4

-1

-4
0 0

s°

nlJ.'S'

:4 j7l9

'WDD llD

TID 1m-l. Wl1W W'W lJ rrnum

ID ilD']SDil rrrrm

]D'D IW rrrm

il9/nil

W'W D'C-I.ll rD ) 'J1'n nC<lWD

IW TI'Wl1WilW C-I.'iln9DlJ

.WC-I.lD1JJJr

IT C-I.n.:ll1JW rrr.nn ,(2=s TI'Wl1UJ TIillTDil

,DmC-l.1 .rnpnn TIW/19il/W

0; S-

3±-J9+l6 2

= -2-

3±5

4,-1
Pil'D'Wl1WillJI

S1,2 =

±2;
.nnnru

S3.4

= ±j
D'nDI WDnUJJ TI'UJl1W nC('SD IW IT ilJlJn] .UJc(lD

nrmp

unr-m

'9J

ll.W .nrrr

illj7]

nJlDD

IW nlJ'S'

'mn

DlJ.j71 C(lil

Routh IUJ ll'ltl'lj7]

l]lj7D

WlD'W

.n'J"9lNil

ilC(lWDilD j7/n TIilUJ TI'D'lUD D'ltlDl9;

K ltlDl9 S3+ 34.5s2 + 7500 s + 7500K=O

TI']'S' D'WllW

n;;lJ

n'J119lNil

ilC(lWDilW WJ]

:6 'UD em.HT

rrmnn K

IUJ tnnn

DlJj71

C('il 1J'J9;

rrmn

~
S2

1 34.5 (258750-7500K)134.5 7500K

7500 7500K 0 0

SI
SO

W pmJ

,TI']'S'

l'il'

uunuun

IlJW .

'1J

258750-7500K> 34.5 > K> 0

0;

7500 K> 0
.C(.T

nrzru

mJ'S'; . lPSJ lDJ

D'NJn

C(SD IW

L(s) = rnrm

K(s+2) s( s + 5)( s + 2s + 5)
2

'rum

T/ilnJ

:7 'UD C-I.n.:llT lUJC(J,

.rrrrr

ilJTil DD

'run nru C(sm

T;ilnil

K 'mmsu

8 -4

nn'::S'

:4 ill9

1+
S4

L( )
S

ne<. e<.::sm

T(s) _
r

1 + L(s)

L(s)

l+L(s)=
.ilT

+7S3

+lSs2 +(2S+K)s+2K " s(s+5)(s+2s+5)

=0

nnn nlJ'::S'
1

lli/nJ.

1 + L(s) IW ilJmil/W

uuruum nn 2K

rucn

rmn

vm

u-anuun

IS
2S+K 14K K

7
80 -K (80-K)(25+K)-98 14K

o o
80 - K> 0

(80-K)(2S+K)-98

K> 14K>0

.2 .3 1 K> 0 D'NJnil nN IJiI] 3 1 1 llnD

1PllW-'e<.il 11ln9

'lne<. ,/JiI]

2 llnD

.80> K

-K2-43K+2000>O

=::>K= -43±-J43

+8000 = -43 2
.tr man

± 99.24
2

=28.1;-71.12 ,K < 28.1 ,.e<..T

D'NJnil

DD ,n'911Jl

28.1> K> 0

.(Evans) .Root locus '97 nlJ.'~' 4.2

DlJjl/lW9ND

Routh lill lPltl'li/

'91 nl'lN'J'1

nrmm

IW lnlJ'::S' ,D'J'::S' IW 'n/J

mrm

lill

nuum
IOJ Dl'iI '9/1'N

ru

1J .D'J'::S'-e<./il

trurnon nnn D'J::Sill

l1Jlni ilJlljl

D11' lJ1N IJN

D'WllW ilT ll'ltl'ljl ID rn.urm nlOJ9ND D'D9Nil

Root IW nn-um ."nlJ'::S'

rrnunn

ilDJ"

nunnn

.il/e<.
lWNJ IOJ lJDDil .runn

rnmnn
DlJi/1 IW tr.mpm

locus
IT

rmn

IOJ trununn

nunum nr.ru

nN '9lJ .mnsn

19mJ

num

n'::SilJ19 IW

11m ltlDl9J

rmn

u-urt:

.rnnsn rmn '''u nnru

L(s)
mnsn JlTIil/OJ lJDDil n':2?jlJ19[[J.n']]

=K

Des)

9 -4

nlJ.'~'

:4 j7l9

.nr

illi/DJ

reS)
(RL lnpJ)
lJJilil rurnen

D(s) = KN(s) 1 + K N(s) D(s) + KN(s) D(s)

IW IPWllWil 1'il' llJDil

(4.7)

Root locus
JPlJ

il . D(s)+KN(s)

rmn vm
IW '9lJ

D D'Wl1Wil llCm mil

s D/9/l1W'DJ

D']J] DilW '9J D'Wl1Wil nmpn

.K
lP11Wil n« IJpJ1 ,'lL.J1Jil n~ D9~1

w' ,1 + K N(s)

D(s)

IW trurnrnn

n« ~l~DI '1J

KN(s) D(s)

TI(s+zJ
KI
n

=
illnJ

(4.8)

TI(s+Pj) N(s)/D(s)
n~ l~n11J1J
I

.tJmlJl~l

n'zmn

lllJ

'''lJ n'l~/19

s IlJ llJ.lJ
(4.9)

N(s) K-D(s)

N(s) .. K-- {cos[¢(s)]+ } Sln[¢(s)]} D(s)

'1' IlJ D/9/l1W'DJ
S il1lj1JJ. tnrun

IW tr mprn D'D:J~il IlJ

umu

rsn

~lil

¢(s)

/ illlWl lJlJDil

n'~PJ19
(4.10)

¢(s)

= arg[L(s)]

==

L arg(s + Zi) - L arg(s + Pi)

uzmnn

lllJill

----=1
I

TIICs+ p)1
k=
... ;0< <00

(4.12)

,n'DJ/1'llP~

(0

< K llJlJ n:n lJ1il

),cos[¢(s)]=-1

OJ1

¢(s)

+zJ

arg(s+ Pj)

= (2k

(4.13)

10

,n'tJ]'(l'llf/c-<

m,
n

COS[¢(S)]

= + 1 c-<lil urrnn

'c-<Jnil m

O>K, DC-< '(::m

00

(¢(s) =
'ltlTIPJ llnJ. .lJ.Jilil

2: arg(s +
nc-< 1J1
r

Zi) -

2: arg(s + Pi)
'(ill rnorn

(2k);r; k = O,±1,±2, ... ; -

<

K < 04.14)
It<m

191C-<J.J.DTI n'::SjlJ19 l

uann

.num>

T'(ilnil

nc-< 4.1 lr::sJ. llnTI

lJ.DTIil n'::SjlJ19 '(ill tr mpn 4.1 lP::S ilNl

,1J1D9t<il

nn-r:
1

D'(9'(llill'TIJ. 'm.n NmlT

,L(s)

=K

(s+z)

(s+ Pl)(S+ P2)(S+ P3)

CX3

JCD

(J

.11m

s '(ill llDJ.

lJ.DTI n'::Sj7J19 '(ill llD

.num

.4.1 lP::S

1il CXl,cx.2,CX3 .s rmpi ilnm'(

mnrn.

s il1li/J'( t<'il

O'J.tJj7il1
~l

n-usan

nc-< lPlJ.nTJ tr mpnn

A, B, C, D tr-nupin
lPl1tlj71il'(ill ruin

D9t<ilTJ

rr'nrn

rr

nrrn .

s rmpi>

rnirn
.num

(4.11)

ilmillTJ '9'(

nunr

4.1lP::SJ.nm1DTJil

s il1lj7JJ.L(s)

'(ill u'mmn I

IL(s)1

BxCxD

KxA
(4.10) ilt<lillTJ '9'(

nunr

rnsn .nurm

,(4.13)

1 (4.12)

nt< nTJ"pTI

.C-<.T) -umun n

nrnpn

'(D

rr nn mn.ne

rmpmm '1J
ill

rnu

arg[L(s)]=,B]
lm::STI Ot< '(J.t<

-Cal

+a2 +a3)=(2xk+l);r
nl11j7J '(ill 'TInD ilJ.ill

.iumn

'n'(J.

mil

nmnan

ilNlillDil nt< rrmvpnn 'm

unsn

ilNlillTJil nc-< o"j7' lm::SDill

s rmpri

KlJ.Jilil

.tr=pnn '("Jil 'NJnil

s rmpi

=----

BxCx

Root locus il n"]J.;

mp'l]

lr;;] .4.2.1
llQJ'n]

'r

;D TPQJllQJil mmpn ;u

nl:< I:<l::m; n'QJDD rmrns« cH:m; nl:< rr I:<'il il]'tlJltl;0!il

1'1:< .rrrnn l]JQJ '9J .s 'Dv;9mpil

IJ1] DnlTD]QJ IJ1]

Root ;QJ
D';;J .'l/n

rnron
11 pill 'n;]

rnurn.mn
.D'QJllQJil

0';;]

mmpu

mpn
rnmpn

illlD

tltllQJI

locus

'mms.i

nrzru

D'QJllQJil

rnnnsnn

n0! l0!nl

nmniam

,o=K
1m

l QJI:<J

.O=D(s)+KN(s)
n'~p]19

IQJ D'QJllQJil Dill 1m

+L(s)

IQJ nnn il IQJ

n-urnmn
u-umun

mrnpun ,1]1 .t.iunn

uunpn

,.I:<.T ,D(s) IQJ D'QJllQJil nn

.rnnsn .nnn IQJ tr mp i D';'nnD

'runn .nnn IQJ trurnum

. co
r

=K I +L(s)

D'D'0!nDil IQJ

D'mllQJil

.2

co =K lQJI:<J

.o=D(s)+KN(s)
n'~p]19 .mnsn

1m trurnmn

Dill

rum n

IQJ TPQJl1mil Oil trurnnm IQJ

IQJ

rnmpun ,1J! .viunn

!m D'D9I:<il ,.I:<.T ,N(s) IQJ uurnmn

nnn !m D'D91:<] D'D"nDD

!QJ

'runn nnn

trumum
DI:<

,(D']tlp

n)

llDD

mil

L(s)

nrmrn

(D'tJ91:< m) D'tJ9N] m=nrr

m 'rrnn

I:<lil L(s) 1m nnnn

.91D-1'1:<] D'N~mil

RL il IQJ D'9JD n-m QJ 'lil

.RL IW D'9JDil
l]UDil nxpns IQJ D']tlp 11:< D'D:m ,D']tlP] IQJ Dl9tJD]QJ D'!'nnD !nJI

19tJD .3 19tJD

rnun: RL
I:<'il lJI I

!m D'9JDil

.D'tJ91X]

trn=rmrn

D'9JDilm

mnn

.mns

.nm

.RL il 1m D'9JD IQJ il'ltlD'tJA

e<'il lJI D'D1PD

mun

.s tJ/9/'ilJnQJDil
rrrnnn

IQJ llm'n] IQJ nr.!]p~l

-umnn

l'~1

Dn']

u-vmn-n

D'9JDil D'ml1mQJ

DU .1:<.T)m'/p'T'9

nr~PJ19

IQJ D']JllT1

.( Complex conjugate pairs) D'1lT1~ nun.i nlD'9lT1 (D"mDD

.RL il !m nltlltJ9D'tJN
D'llj7

.5

IN n'tlltJ9D'tJe<

rmx.i

91tJ l'1:<] D'D9e<

II:< 19NW' D'WllQJ !W D'9JD e=n-m

IW Dl9'W '!D] D'lm'
(4.15)

e = e2k + l)Jr.
as

n-m

00 > K> 0

:negative feedback

n-m

16)

2-

4.2l1':::n

~J.lD 'lLlnl'JillJ.Oilil

I S = 0"

+ jco

S-+CiJ

x
,0'09~ llW'DJ. 1 O'JLlj7 ,1J;

.mLllLl9D'O~;

'lLlDl'J

lJ.Oil

.4.2 ll'::$

117

n lJDDil
. 'llD-r~J

n':Sj7J19;W 0'D9~;

n:n.

fll/JJ/J97J'DN171179'{j)

j71nl llTIX lmcG

19~W' 0'9m

n - 117 .eU

2krc m ,K> 0 llJD

(2k+l)rr;

nnnum>
.(4.16)

ilJ'l:S

nm

rr nn

(n-m) Gas nr.n trmrun .K< 0 llJ.D

nDJ

1 (4.15)

mxium

mDJ.1J WJD

.'WDDill':Sil

OD mLllLl9D'D~il

;W WJ9Dil

rmpi n« m:SD; lJ';D

'9J

,~LlJ;

lW9~

lJDDil

n':Sj7J19

n« . '{j)7J!717 7'.:117
O';Jl':Sl

tiu fl7/J7/J97J'DN/7

,/(j) {j))97J rtrttn lJJW (4.17)

TI'nlJ';19

;W lJ.W '1' ;D (lJlJlil

;lJ

IllJD

mil

b, 1 ,';';W
;J.j7J

lDDJ (0'D9~il) n~

nnnn 'WllW;lJ
O~ .';';W

OlJO ~lil a] IT il~lWDJ.1

rum.i ilJJDil

pm

lD'DJ. (O'J.Llj7il) ilJJDil

-umm

L(s)

= ----:-------K1
·1l

S + b1s"- + ... -b m1 SOl + G1s - + +G

lW~J ,1J; .i

=
11 nI

----------=--:--:-

K
l1-nl-1

l1-nI

.i,

(b 1 _

G1

)S

R(s) + +_ ... N(s)

-1

(4.18)

.s

-+X

Nis) IllJ';19il

;W lTD)

,117

D Hlj7 Rts) 01]1;19il

;W lTD TID
-+

(4.18)

ilmWnJ.

.u.inn ;W TI'J1W~lil TI'lJ~il

']W ;D j7l l10WJ TI~ . R(s)

N(s)

OJ

; Jlj7n'

1+L(s)=O
(4.19)

-K;::_

13 - 4

:lJ

(4.19)

ilc<lWTJnc< mWli
Q1

IJ1J

n -m

rrrr.mn

uD

1c< ,-

K :::= s e + (b 1
uJDI IJ1J

) S e-1 -K:=:

,1J'7,

r "!'

s
~

(-Kte

{I + b y;e
1

QI

(4.20)

'91D-l'c< lltJ'7

Jlj?I

IJ1J

(4.20)

nc<

S(

1+

bI -

es

QI

+... = -K

_(

)lle
IW nmm

(4.21 )

'7Jj?J nznm

2 l1DTJ u'lJc<

'In c<

s+

bl

-QI

e
S

:::= -K

)lle

IJj?J

= + jOJ
(J

IW ruxn

'In c<l
(4.22)

(J

+ JOJ +

GI :=: IK Ille[

COS-e-TC

2k+I

. + j sm 2k+l ] eTC;

< K < CfJ

(J+JOJ+

bl e GI :=:K 11Ie[ COS--;TC+jSlil--;TC; ] I 2k . 2k

-CfJ<K<O

(4.23)

'7Jj?J1 u'TJl1TJ u'lJc<l

(J

u"WTJTJ u'TJ1j?TJ il1WJ

+ bl

GI

e
lle .

\Kl

lIe

COS--TC (4.24)

2k + 1 e

OJ:=: IKl

Slil--TC

2k + 1 e

OJ:=: I K 1

1Ie . 2k
e

(4.25)

Slil-TC

IJj?J1

CO

nc< p/m

(4.24)

J m-numn

OJ:=: ( (J +
. K> 0 llJD,TCt

-G

-ntn

llnTJ (4.26)

tan -e-TC

2k + 1

((J - (J I ) t

tan--

2k + 1
e

Dl9W nu

nnnusu'usn

IW lW'illj?il

nxunun

cx'il (4.26)

.t

tan-TC

OllJD

J nun

'Wnnil l'~il

DD WJ9n rmpn (4.27)

u1
.(4.16) 1 (4.15) nmlWnJ

=
n'J'tl'mm'~ l11J

ru

upsn

rnumsn-nxn
(4.27) ilmWn

Dl9W

n~

n«

tJl9J

===------------~---------n=m
JO) .'
" "

poles of L(s)-

zeros of L(s)

(4.28) .4.3 11'~ n ~l

"

"

"

.rnumsmnen

'7w il'ltlnPJ

.4.3 11'~

'1' '7D nrn«

D'J1J .(RL) D'W11Wil rnmpn

'7w '91J lmn'7

D''7'7J nurun

1mJil ,n'19Dn

ilJ 1D ~nJn

. L(s)

__

---:__~--

K(s + 1)

S(S + 4)(S2 + 2s + 2)

1JDn n'~ilJ19

rmrn

:8 'OTJ ~nJn

D'09~il190n .D'9JD 4 1'il' l'il'

.4 ~il 1J'7

D'Jtlilil1'90TJ,1
=

>m K=O

.1 ~lil 1W~J

11JOil .nnn '7w D'W11Wil D'Jtlilil ,.~.T .rnnsn

-4

-1.67.
x

...

-1

rmn
K

'7w D'JtlilJ

D(s) '7w
~mnJ nn« 1J'7 , .D'09~J ril' n-ununn

00

lW~J

.2

-1 J 1n~ '9lD 09N Pl D"jllPJ9'7w

.-1 = '7 CjNW'D'W11Wil nmWDn . 4 ilTl ' D'9JDil 190TJ .3 .il''7~n

. lsi =

00

119~W'

D'9JDil In'

nrnn

,TJ19JD '7w il"ltlWO

.4

--J{

+1

> 0 'n.m .

15)

.e

ass}

2 +1 = -,,-JY
.J

1800

'7JilJl

J il'il'

rnurosnusn

W.:\9D mpn

~l=~----~~--n-m

::[ poles -

zeros

-(0 + 4 + 2) - (-1)

"
.J

= -1.67

. RL

'7w rnsnn

rnn.in

IW 1l11:\'nJ

l'wm

.'WDDil l'::Sil '7u

RL

IW 1]'9m

.6

tr mpm

1]'D91:\il 19DD 1]1:\jll

RL

'7w 1]'Wl1W 1:\::SD'il'7 1]'/1]'

(J

l'::S '7w 1]'lDD Utljl '7u

(J

K> 0 llJU

'.:\IT-'1:\ 19DD 1:\1il Utlil'7 l'D'D '.:\IT 'WDDil l'::Sil IU rrnpi urun ']9D IlJ

'WDDill'::Sil

IU

K <0
1]'Jlljlil '7w

llJU

nn-n:n

nnrmn

IU .iltllW9

1:\'il ilnJ1ilil 1]'D91:\ill 1JI .nns

.:\ITlJ W' D91:\ 11:\Jllljl

IlJ/WJ

.num 1]'U'9m
.(2k+1)n'7

.nvmnn tr rrrmn
jll

.Ulljl'7 1'D'D urun 1]"WDDil 1]')lljlill1]'091:\il 1:\::SD'il'7 1]'J'l::S UtljlJ ,lJ 1]w'7 1]JnDil'7

IW nnrrnn

msun

ruv n

n'7/1Jil

nrmnn

,K> 0 lW1:\J
j'WD

nn-nm nrmnr ,K < 0

mml l'D'D

lW1:\J .1]'091:\11]')tljl ,lJ

'7W '.:llT-'1:\ 19DD Utljl mm'7

190D unp

1:\::SWill 1]'J'l::S

1]W'7 .Zkr: '7 1]JnDil'7

.r-n

1]'Wl1W -nu IW '7w 'JlT

,.D'091:\11]':;ltljl

L(s)

-r-

K
(5+4)(5+

5-

1)(5+0.5)
= -2-

:'9 DD 1:\mn

0+1

assl

JY

= 90
0

e
-1 2
~l

ass}

2+1 = --JY 2

= 270 0
(+2) =-3.75
1'J Utljlil

-3.75

= -(0.5+1+4) 2
j'J'7

Utljl)

un .s= -0.5
1:\::SD'ill 1]'J"n

s=2

IlJ

s = -41')'7

s = -1 1')
1]'UJllW

(1]'WllUJ rumpin

16- 4

npmnn DIJe<illll"Ji
1l":::!J

C]e<WIls
=

= - 0.5
=

upmnn JtJlj7J rr=nnnn nrnoun .K> 0 1We<J

D'JtJj7J nr=r.rmn

m; un: s

-1, s

-4 J trnpmnn

mmpun . s

2J

.nrzssnnn nnn -umnn l'::5il iD Ulj7TJ ilPe<J Tn/] lWTJilJ

.rrm»

1'1::5' De< N/N

,0<

K W n']] ,lWTJilJ

. D'JJ1ln D'llJD11l ,JtJlj71 ilJ'l'S ilJllj7

(D'DIJNI D'Wm

ilD']]

Il'llT IN) D'JtJPilTJ

ile<''S' Il'llT

.7

ilTlj7] IW ilnl'j7

,JtJlj7TJ C]JDIW ilN''S' IlJTJ IT

rrnr

N1::5TJi '1J

trmnn>

trmrm .nnur

D'JtJj7il1

D'D9Nil

rmpri

nl'11Til/1J

nrmn
. (2k+ l)n

D'U9Nil

,oD IllTJ1TlJil Ill'llTil

nnrn.
j2
ilNJil NmnJ

j7'nnJ

mnrr- nptrnn tr inpm .mpn

J.tJlj7il

ilPN il1lj7]1 WnTlW]

vn

TlTJ1TlJil

.8p4 11''SJ J ilJnDJ1 .runr:

s+3 j2)(s+2j2)

L(s)
4-

(s+1)(s+4)(s+2+

mW1J

p4

IlN N1::5TJi '1J

e zI
ilN''S'

e pI + e p2 + e p3 + e p4)

:rr
1Ji1

ru-nt

J1Wn .4.4 11''S

e p4 = e =1
j7n1llJ IlN:::5nJ ilj7'1Jil IlTlj7JW

e pI

e p2

e p3 Ill'lTililJ

TC

nmm

j7'nn

.num> Illm']OZl'eppep2,ep3
Dmt<l . P4

.nnprm

'U9N

01'1

= 90"; e p2 = 1800

tan -~(2) = 116.6°; 0 p3 = tan -1 (1) = 45° 8zI = tan -1 (2) = 63.4 °
I

81'4

=63.4-90-116.6-45-180=

- 368.2° (_8.2°)

lNJTJ

.rmrmn

l':::5il DD RLil

WJ9TJ .8 ilN1WTJil lTDilJ ,1nlN

__D(s) + KN(s) 1 + L(,S') ___;__:__---'-_;__ iW nnnn N1il 11JUil rmn zu Il')1'9lNil D(s)
ilTl ,D9N 'WnTJ llD D'/Jj7TJ D'W11Wil
1]

1JJilil

IlD'Jj71

Routh iw ll'ltJ'lj7J.
,'tJ'lj7il lJJilil

'O'J':::5' D'W11W iw 1lTNilTJ D'W11Wil ilN1, ilJllnNil NnJl1il IlN

-uu

IlN l'JDnil, 'WTJTJllD

nnn

.'Jrn

'OD D'J1:~'

lXi D'Wl1W iw 1lTNi

ilJJJ . 4.411':::5

=0 iW Routh

nlJ.':S':

4 jll9

(s+1)(s+4)(s2

+4s+8)+K(s+3)

=S4

+9s3 +32s2 +(56+K)s+32+3K

iVil'

=0

Routh array ill

32+3K

32
56+K (32+3K)9

S3

9
232-K (232-K)(56+K)-81(32+3K) _K2-67 K + 10400 (32+3K)
ilcmlJDil l.JJilil.
-140.5,73.84

s s
SO

0 0

m~'nns:

.CU ,S
TID

I ilWcmDil illlillil lill nillC(lil l.J'C(il nC( 09NJ

il/lJ.l9

trurrun

rrnsn

-rm . -K2-67K+I0400=0 nrn

Kcrit=

I ilD'C(nDil

rrnnm vm lJ'lJ'C(illmD

lTDil nC(lWD nC(

73.84 ,1JI

't]'ljlil IJj?J
,S2

(232 - 73.84)S2 + (32 + 3 x 73.84) x 9 = 0

S2

+ 14.43 = 0 =>

OJ crit

= 3.8rad

/ sec

.4.5 lP:S

ilC(l .4.4 ll':S IW

RL il nnnn n« lJ'/WilIIJ1J

x
I

-4

-3

-2

-1

IW u=nu

TID nm

rn

l'::$ lmn

(4.4 lr:S/lWDil)-

.4.4a

ll':S

8-4

.(Breakaway 4.5 1P~:D ,~YJJn'l

points, .1]''I19J

Saddle

points)TI'JnD

1]'UJ11UJ 1]U 1]'9JD 'Iu nnlp] WJ9'il'l1]''IlJ'

.9

TI'W11W W'W ]nUD ilTl 11W'DJ

1]'9JD

.P'IN

1]'UJJ]

,'WDDil l'::$il nN 1]'JTlD 1]'9JD TI'Nll

Break-in point

Breakaway point

.1]'9JD 'Iw

mnrinn

1N

m'zssnn nnw]

.4.511':::1

.4.6 11'::$J

im

,1]'9JD 'JWD 1nr

'IUJ TI'UJJ9D l:::l11il'll]1'11]'

Breakaway points

b tnpn.i rn'zrn
,1ilUJ 'IlJ sJ

a
irn ,'UJDDil1'::$il'lU

tn rn'zxsnn nrnp:

.4.611':::1

.rnnsn .nnn 'IW,1]'lJ9Nil1

tr.mpn

mnt 'm ,n

N1il TI''I:::I9nm

1]'UJJ9Jil TI'9Jpil

191JD TIN .D'9JlJ,7 '?(J] il'il'

mvstmn
'IUJ

fl7'77T

TI'9JDil 19UD ,4.6a 4.6b 11':::IJ . 180/4=45°

11":::IJ ,'IWD'I il'il' 1il

.mvun

180ln

nrn

ilT 1]'9JDil

rnpmnnn

ilm ilT 1]'ilmnD

TI'9JDilUJ Jl F''l l] 1J'I .n = 4 Nlil TI'UJJ9Jil 1J'I ,1]U9 'I1]J 1J'IJ TI'9JD 'JUJ TI'UJJ9J

.18012=90°

nrzssnnn ru-nt
m::m'l

.TI'9JD 'Iw WJ9D nnw]

nmnm rnnr ilUJUD'I1ilW) 1]'J11'nUJ

l'1il'l

nN D9N'I N'il (lnp il

1P]1]

TI'JllD

m) 1]''I19J 1]'UJ11UJ'Iw tnpn rnnrz 1)1J11il rm«

mJ1'119il'lUJ 1]'(JJ11UJil

nrmn vm
lJJ

n/:x
TI'(JJllW

mum
TI 1]'(JJllUJil .ND]nJ nNT

.rrrrrrm

l'N 'IJN ,lP9JD (JJ]9D 'I(JJ TI'JrlD

m:

9-4

DiY .usnin WJ9n

rnpn m~iY:::m. L(s)

K(s + 2)

s:

+ 2s + 2

lJDn

n':::$j7J19 nnm

.10 ilnJn .il/iYJ IJj7Jl W'

llTJJ

dL(s) ds

_S2

4s - 2

(S2

+2s+2f
'Oil

rnmnsn

.Sl=

-3.4 ; S2= -0.586

n'IIJil

x
.4.7ll':::$

D'/1J'

,RL

n IW

rrnsn '91 nrn>

1nN WJ9n

rrnp:

iY.T,D'/19J

D'WllW 'JW j7l

.ununn
.'nn/l 1J'N
S

l':::$il ID D'9JD IW 1J/J

IW nl/:::$9nilil

rmpi 1J/.
Sl

2-

n 1tlj7 llD DDl

= -0.586 J ummn .4.7 ll':::$ ilNl.

= -3.4 il1lj7JJ nnn D'9JD

llTJJ . L(s)

K
s(s + 4)(s- + 4s + 20)

.nt ll':::$JW nn

.4.6 b ll':::$1 llTnJ ,

:11 ilnJn

'.)"1

-2;

.s'u

= -2 ± 2.45}

:Dil 1T ilNlwn IW l]'WllWil

s3+6s2+18s+20 = 0 b ll':::$J nmll

I]j7Jl

, 4,6

1nJW '9J

trurrtnn
nlJl/W'J

nN':::$m lJDnil

n':::$j7J19 mu

IW ll1J

D'WllW IW WA9n D'J:::$nJ ill'!)' 'n/J

nrnpi
nl'il'l

nN':::$n il/l/D

nunn

lNnJW n9U1Jil ll1il

.trn-mn
.RL

n IW rnrnn urns

nN DlJj71

mmn

ID

nnm.ir

IT ll1

.nnrmp

'J9 ID IJj7J

mmrr

19Dn ill W'l lnl'

n'IIJ

ll1

-rnr :J

ll1

rrnrm,

1+ L(s)

= 1+KN(s)/D(s)=O

ilNlWnil

mns
(4.29)

D(s) N(s)
l':::$illllNi

DtJj7J ,4.8 a ll':::$J .mmnn Dlj7nJ iY1I1lJJilil

K lJJilil

rnnnsnn

m~ ilNlnil

A.8 ll':::$J
,D'JtJj7il

irurn

'/n']'n

Nlil)

.nvmprm D'j7nlnn
IW n'D'U]

lWiYJ I1J K lJAilil nror N'il mn

'JW l'JW

,WJ9TJil rnpr.n

.('09iY lJlD nn IlJ

'OW ,D'JtJj7il '/n''Oj7n

K lJJilil

A.8 b ll':::$J ,niYT nTJlDI .ununn

T:::Iil ID n-aruum

.unnrn

20- 4

lJJilil

.usmn

llil .mrs

rn'zssnnn

mpn:n

,D'Og~il

-ium D'ilmnD

llil~J

1tljl1l/1il , il'il'

.(TJ'Og~il milDJ

'/TJ'DPD c<lil) ,'/TJ1J1D ,pmJ

: -Mi~]--_."

~ :....~- .-: ----. ~M~ax~ ~ .

:~

.. ';'": :

\ : .
:

c
D'gJD llil urnunurm ,'lilDDill'Sil/D DJ D'JSTJil

b
D'JllD m .unnnn trurnui r-xnn 'lil'T .4.8 lPS

_a
D'c<Sl' m ,'lilDTJill'SI D'mJJ

.rn:
n~ ~STJJ ,(4.29) ID mn-rn IT rmpri D~ 'lil Jtllj/ usarn D'~Sl' 1

»m

nxunrri

il'Sj7J19il

n~ llTJJ

uam

D'~ll

4.8 b 1 'lil

4.8

a D'll'S

llnn

m DlTJ'Oj/TJ nmpi ID D'JSn

n-nnn n'I'/lil

mumm
4.8

.nm

mopsn nrnpi

urrn lTJO .nmnopxn rmpri

n~ D'JTlD D'9JD rnnn il'Jlil

num rnrn

IJj7J D~ .unnnn

r'xn

.inmnn
,

TSil

illWJ

IT rr'nn IJj/J

a lPS 'gIl

KI trmnpn
nxr rmurz

K I DlTJ']'n rmp: .~.T .rr.nn

l'J D~ IJ~ Jtllj/il l'J .D'lillllil/(JJ mSD'

mrn

ilnltlOj/~il

rrnpri

D'gJD 'J(JJ TI'D]]J lTil illlj7Jil/~(JJ '9; 'm

4.8b lr::5 '9/l11J O~:ml ill1jl]

4.8 ell'S

.nmunp« nmpi
n-sm .num unn-u

'nliJ ~STJJ D'II1] 'J(JJ TI'lilJ9J rrnn> 'gJ

TI'9JD 'J(JJ TI'IS9nTJ nmn

illlj7J OJl ,D'D]]J lllJ

break-in nrnpi m/JI

rr'rrrun

,lTJ~] lJJlil

.TSI rmn breakaway a D'lrSJ

'

.rnpsn IliJ illj7TJJ RL il I(JJ n'n'D~il

I(JJ

rnnnsnnn

n~ m/J/1nJ(JJ

nnm vrrn TIlj/TJl lJDn n'Sj7J19 rmx nrn« llil RL

I(JJ .num 'ln~

lJJ Nlil I rJ1~lTJ 4.9 b 1 4.9 TIDIJ~

r

ill . tr mprn D'Ogc<il IliJ TI']lW TI'JlDil IW nmnnsnn nc< 11J] D1]j//llilgN

D'Jtlj71 TI'ogN

.RL n vm trsmn

urn-r-um

TIlWDj/Dil nnw]

a_

.4.9 ll'::5

-4

.RL Il mDlDD;D
.11 il] lJ1'l:':Sl llJ]lllJ.11l1l
1]' Wll

KlJ.1ll1l

J1Wil .10 W rr'n

W mn

i .TI'p'nn

TI' 'JJD 1]'1' J W'l 1l;i:(WIl .m'D:':5Jn

RL

il rr rr ni:( un=n tno .nru

(4.12)
m

ni:( 'un ll]lJnJ

1:':5'J i:('1l mnun umnun

r.unvn ni:( 'run

>u

IlWD'

'run
'1J

RL

'!w n'110'1l

lJ TIW'! .1]"l:':Slll 1]'WllWIl

umn» lli:(lWn

i:('ill

IKI= --'-:,-IllS +ZJI

1

IlIS+ p,1

.'12 TIn i:(mn

'1' ;D nu'n

L(s)=K

s(s+ 2)(s+ 1.8 + 2))(s

(5+3)

+ 1.8 - 2)) 11m RL

;D

s. il1WJn 1]']llillll

0'Ji:(1l '!w 1]'lllTJl'JIl1]'pmnll

.ll':':SJ

Il;W

1ni:( E"jJD

.E,D,c'B,A TIll E"jJDIl

ni:(:':5nJw s[ il11V]]

1J;

K lJ.1illl

,1]'9JDil

1nN ;D il'il'

K=BxCxDxE
A
I

x (-1.8-2j)
,1]'9JD il;W llJD "O'9JDillllN; DlJiI il'il' llJTIil Jmil 1]'DJil IW 1]'WllWil 1]'Wl1W mw' "OlJO , e "O'WllWil TIlJO .11

= 1'1 -

m > 2 lWi:(J
ilT .1ilW

1]'DJIl "O'WllW nrill

"O'J"il

.rn-n

"ONW.rm«

K;lJ

.uripn
TIlWl; IJ1J

"ODlJO ;D llnW;

run ;D

,il;Nnw

ilT IlliinJ

.e =2 W rr n .lJ nm IlNlJ

22 - 4

rum.i
Sn

lJ.ilJ

]]/1

+ als

n-l

+ S n-2 (a2 + K) + s n-3 ( a3,

lJJ'~Wl ~lil , llJOil

..J_

Kb I )'

T ...

o
lJlJO ~lil J."n lJ'9JDil rDn a1

IlJ

lJlJO

,PI
,;J.ljID

.K J. 'lin

.nnn
'~mil

IW lJ'WllWil/lJ .DlJ.iI le<W'ill .illilJ.

IJ.~

lJ"ilnDW

'liI'P9 '~m

>2

'WllW tJDDJ

nlJlDDJ.

;W lJ'9JDil

ne< '9lJ

191~J. le<n;lnJ

lJnlTDJ.W lJ';;J nD'1' llnD '9;

11 7W

nruxn urr=n
~mnJ.

ilTJ.

.mnsn .nnn IW rr mprn nusan

.lJ';;J

'runn .nnn 7W trunnnn

nm«

e</Dil

nmnsn

lJ"lJJ

L(s) = K .nm9il Jlnil/W

(s + 3)
s(s + 5)(s + 6)(S2 + 2s + 2)
il/~.

lJ.DDil n'::SilJ19 J. Pil' Pil' 0

nnrn
=

:13 'lJD ~mn lJ'([]llWil .1

lJ'J.tJilil

= 0, -5, -6, -l+j, -l-j .nnn zm

lJ'09~J.

KlJD
00

s=

-3,00,00,00,00

,mn9il

DD D'([]llWil

.2
1.3

.RL il 7([] D'9JD 5 Pil'

1J7

.n

5, m

1JI ,

e = n - m = 5 - 1 = 4 :'([]DDil l'::Sil DD WJ9Dl nltJltJD"O~il

ilPiln Jl l 'Tll ill

nl'llT

.5

e = --lr 4
as

2k+l

.~

:0'1

'([]DD l'::S DD WJ9D .J. I

()l

===- __

--===-z_er_o_s = (0-5-6-2)-(-3) n-,m 5-1

=-2.5
.'WDDil l'::Sil 7D

n-umm .6
lne<D

.D'J.tJill

D'09e< IW

'_:m-'e< 19lJD7

7cmWD D'9JD Pil'

o<K

J.

mrrim

s=o:
s
.D'J.Jlm 7lJ D'J.([]nD 7([] D'J.tJilD

-3 .~lJtJj7
.J. lJtJj7

= -5 : -6

ilCF~' mm .7

n-num nnrmn
illl::SJ. . a
Z

ne< DJlJJ

.rr.rrunn

D'J.tJilil1ne<7

n.mp rrnp: 'm.n trunpn

m-<

nnrr

tan " --

1 3-1

= tan "

0.5 = 26.6.lT il1lj7J1 D'09e<ill

180:;J.jlJl

5+90+ 14+ 11

il nrmn

=
23 4

· RL n ;W O'':JJlJ '1' ;lJ nnrrnn

;]j7J.

l'Sil

lmn

.8
ilJJJ

l+KN(s)/D(:-:,) !W rnmn

;W

Routh array

, s5
4

D(s)+KN(s) =S5+ 13s4+54s3+82s2+

54

(60+K)s+3K=0 60+K 3K
0 0 0 0

13 47.7
65. 6-0. 2 12K

82

53

60+0. 769K 3K - O.l63K2

0 0

l
51

3940 -105K 3K

65.6 - 0.212K

l
1t<JD ,'!';W

t<! lllJ OD r-n ilJ1Wt<lil rrnnr 0.212K>

i O'l]'t<ilW

Wl1J trumun

nlJ.':::S'! ilW1!W

nntuu-:«
65.6 0

3940 K;:::O

105K - 0.163K2 ;::: 0 K<309 : l1Wt<lill1'llW-'t<il -679.7 <K<35.5 :'JWil11'llw-'t<illmD K> 0 :'W'!Will1'llW-'t<il
lmD rnpnnn

lmD

Xcrit= 35.5

t<lil nl]'S'

n-u.mn

'!WDj7Dil

l]Jilil

llDl

0 < K < 35.5 :

lTlJil nt<lWD

A(s)=(65.2-0.212X35.5)s2 = 58.2 S2+ 105

+3 x 35.5=0 : S2 !W ill1W ! ilD't<nDil

nt< ilJJ.J

=0
5

= ±j1.34

] il'il'

nnrm

l':':SIl lJD WJ9DW t<:':Im 1t<JDl

Breakaway
:ilt<1WDil

points .9 L(s)

nt< !]j7J1

s '9!

'nrn
1Jt<

s5+13.5s4+66s3+142s2+123s+45
'WDDil l'::Iil !D ilT llTcU'J
=s

.s = -5:-6

1'] mnru

nl'il!

]"n

1nt< Wl1WW lJ'D11'

- 5.52

t<:':Im nl':':IlD't< .lllSil

!W umr '9! nunr

19DD '1' !D .!19J lJ'Wl1Wil '9JlJ llm! W lnt<D

Wl1W t<:':IWil! Jlln lJJilil J1Wn .10 .11

lJ1JD mJ

.r n 'runn

.nnn

!W lJ'Wl1WillJlJD

.e >2
.13

.lJ'Wl1WillJlJD

.x.r .mnsn Jlnil !W lJ'Wl1Wil

.4.10 l1'2n

11m RL il lmn

24- 4

4r-------r-~~~~------~-------r------~----~~
3 -----------~-------I

L( s )=K( s+3)/[s( s+5)( s+6)( s"2+2s+2)]

---------~-----------~-------------I I

---1-----------1-I

--,-----------~-I

---------r--

---------,--

-1

___________

J
I

L
I

J __
I

-2 -----------~-----------

1-

-r-----------,--------I I

I I I

-3 -----------~---------

-------~-----------;------I-------~--

1~O------·~-8~~--~~~~-----4L---------2L-------~O----~~
Real Axis ~

.13 'UD cmJl1 IW RL IW D'9m .4.1 0 lF~

IT iltJ1WI .illj7J rn.mm

ilJJDil

llJJnl

RLil

nu-m

IW .irru unrr n n-n 60 ill 50 il nlJWJ

,'/D'tJ9m ruoru D"D'UJ

ruaru

tJ'j7ilJm

mmrr OJ mnr' IJ~

rnmnn

IUJ

n-siun nmnsnn
.11.JD J1nJ

mrs IU nrzmnn
illilJil nJ1Un

.rns

lJln']'n-c<l

11:< ,J':':$' 'n/J

lXlil T/ilnilUJJ

IUJ ilJ1:':$"1 'lUJ91:< lli'J .nmTJJn

IlJ U'J:':$' RL IUJ TJ'UJ11UJ

190n '1' IU nl:<T l'ilJJ

nru

.14 'Dn I:<TJJn

L()S
?

=K

(s+6)(5-6) s(s + 3)(s + 4 - 4))(s + 4 + 4j)

=K

(S2 -. 36) -., -, l'(ilnil s(s + 3)(s- + 8s + 32)

(Negative feedback) n'I'/UJ

mnr

ilJTil TJU 'run

.nru

IT rrrum

J.:':$"I tru Dl:<il

.4.11 11':':$J
JCO

uuru

...... co . =295
~

Kcnt=-9.2
6 10.08

'"

-8.15

-6

-3 -1.33

K <0 , s =(0 : 6) uup.i

lJJilil

DU runs

nnJ.

J':':$' I:<'?T/iln

IUJ

RL .4.11 11':':$

D'W11UJ I:<::sn'il'? TJ'J"n um

.Rl.n J':':$'

IW 6 'on I'?J

'91 r K> 0 1nJ] TJI:<

il'il' 'rnn ,.I:<.T

IW 1J1U nn m.r

c(11 ,11]D JlnJ

I:<:':$n' ,(

C(I 1nl:< Wl1W rnns>

JUJln

rn iu K

IW mnn

Positive feedback) K < 0 1nJJ DC( .nxr nrnn> l+KL(s) IUJ nnnn
: '1T7J7 7.1J,7.J7[f}Tl I .nus

.K

I:<lil

Routh array ilJJJ s'

S3

I II (520+ I IK) 9.2+K -396K

56+K

-36K 0 0

96
-396K 0

5"S1

:D il D'l:<Jnil 111J 1911:<J.

Kcrit= -

9.2

, s' IW rrmrnn
nC(':':$n'? .

'tJ'li!
SO

1J]11 .1:<

nT'911Xil

illXlWnil ilJJ]

,COcrit

0> K

IW

muunn .J

26- 4

m.J'~':

4 j7l9

. Sellt

±2.95j

IJi!J

n rrrrn

A (s) = s2(520-11X9.2)+396x9.2=0 s '91 Lts) . s[

llLlJ :D7'?7!D D7[j]77{f) J

Break-in 1 Breakaway

I nnlj7J

W1/W IJi!Jl

-1.33; S2= -8.15; s3=1008

L(s) =

(s

K(s +

+ 2)(s - 4)

mna

.nm

J'~'

~I l'/iln

11m

:15 'un

~mn

s = 4 J upmnn

Jtlli!J

I'nnn

1n~ ~JD D~

x.:
-2 -1 4

Kcrit

I IDn KlJJilil

n~ D';'1Jn

.run

.nn.i D'J'~'

D'WllW 1.Jj7J

ilJ'~'

m'ill

il;lJ'

nJlDnil

12

a lP~

'9/. L(s)
,Kcrit

K
s( s

+ Cl)( S + b)

11m

.16 'un

~mn

Jl~"1

nrunsxn

lDln . 12

a lP~ il~l

'tl'lj7illJJililn

ltlj7 lJJil

DD llJD .rm.i

.nxnm IlJJ

m.u

KlJJilJ

'OJ lnw'n

mJ'~'ilW

27 - 4

mJ'T:

4 Pl9

~/I ,ilJ'~'
'WDDill'~il

~I nrm
ID O:W

ll..1u ..1lnJ rrrumn

.ir ~D..1nJ . L(s) 4.13

=,

s-(s+a)

:17 'uD ~mn I11J] rn>n n~ J~'TJ

nsmn . 4.13 b ll':n.

a lP~ il~l ,KlJ..1ilil

.0

< K llJD rrrnmn

(
KlJ..1ilil)W tn rrmn

()

(2

b
lIT1..1 lWP ~))

a
'run nru
ilJ'S' 'n)J nJlDTJil13

a ll'~J

.4.13l1'~

.Nyquist criterion
,

' 9/
lJ'9'DOJ

nlJ. '::s' .4.3

lTJ~JW '9J

ilJTillJD illjlJ

JllJlDD

)W JllJ'S'

nru» tru .nn nc 1ill,

S

.n'WDTJil 1 Nyquist

rm-tnn nur-m

0'

+ jco ,

JJllTJilllW'DJ )W Jlltl'Wil

Jlltl'W . s JJllTJilllW'TJJ
• CD

JllWTJnWD Evans n'WDTJil

)Wl

Routh

rm-rrm nm-m
,Jll'tl')m )1]J Jll'~P]19 nnu

JllD~JnTJ Bode num

tl9WD )D Tnl'TJJl

JJllTJilllW'TJJ llW'DJ n'tl')m

nl'~jI]19 il'SpJ19)

)W '19'TJ )D n~OlJTJ Nyquist )W

rms:i . tn nrnpi

JJllTJil

cmursn
,ntlW19TJ

)W '91lJ 190TJ'I ~STJJ

rmn .unvm

Jll'tl')mil

mnn

Jll'SjlJ19

)W llD

.s )W llD )lJ llJD .n't)')m

il'SpJ19 JJllTJil

~'il

F(s) W nn .(nPl)l..1PO
l'JDJl

JCO
D

(4.14 ll'S

il~l)

llW'TJ'I nrnx

F(s)

fs
A
1\

.~ '-"_-+Jl -

,..

A
B

II

-2

-1

.._jl--- B

b
=--

s+2

IW '19'TJ .4.14l1'S

c:

28

ur IUW

r$ l1..10 IliOn
)1]

mum

4.14 a ll'::G

.n'l/i..1rO

N'il il':':f,JJ19il ilJ. .s = -2 ilTlf,JJI llW'n;

s ilTWJ

IUD.

4-14 b ll':::D

u+)v J.JllTJil
r

F(s) il'::;f,J1l9il llT jI'nUil;

l1..10!h;I;On; ilTlf,JJ;,

F(s) il':'Sf,JJl9il ,aD nprunnn

ilTlf,JJ nn"i/

.r, 'runn

'71;OTJil 'J:J

F(s) il':'Sf,JJ1:Jil llT .s llW'nTJ

:Oil

D ilT1f,JJ f,J'nm

,;wn'7

.J.JllTJilllW'TJJ. .rmnn

rF
F(D)

s llW'TJJ

D ;W O'J.'Jlil

mu-m

1J; ,D =[ -1 + j]
F(D)=F(-l+j)=

-1+)
-1+j+2

(-l+j)(l-j)= (l+j)(l-j)

2j =j 1+1

.4.14

b ll':'SJ. F(-l +j) = j ilT1f,JJ;

;lIOTJ Nlil LJNW fF '7

4.14a ll':':J.

J.JllTJil mTli/J

llW'nJ. ilJ.lil

nprunn i/'nDill

D ilTlf,JJ ,0JnNl
trn nnrr illl:'SJ

llJO

lUOil

;l;OTJilTJ

llJnlJlNil

ll:JWTJI ilJ9J nDJ

Fts) il'::;i/J19il

IW m'tJ'/JNil nD'Ji/J

mrrmn

lin (closed path) .Cauchy IW

.Nyquist IW ]l'ltJ'li/il

'TJlTJ ll9WTJ NlilW

.Cauchy
1]'09N

'1w tJmlJl~il
n'll'/JN

tJ9Wn .4..3.1
il'::5j1Jl9 rmrn O'Jllf,J

z W' IT il':':f,JJ191 DN .1]'Jlli/ n 1 D'09N

,JJllTJil llW'TJJ il':':jlJl9il

m '''D nlNmTJil
'm

n« l:.:"n IJnm

IW '19'TJil

,[s ll..10 IlIOTJ llnJ

nN LJ1i7D'W I

P1

.r, IW

111'J mmJ

D'TJD9

z -p

n'We<lil

.Tr

'ruun '71/0TJil
.4-15 ll'::5J

s-plane

jco

If

a
, Cauchy IW tlJnl..llNil

b
ll9WTJ IW nnrrn .4.15 li':':

nlJ'::$':

4 ill9

. 4.15 IlJ llW'DJ

a lP::$J TI'cOlnil
'nrm iI'7n

,1]'D91X 3 1 1]'Jtlil

5 D n.rrnnn

lJDD n'::$ilJ19 1JlnJW

n'JJ

unm

1 Jl'Jlil1 1]'D91X 3 CJil1Dil s llW'DJ

is llJD I1'71JD TIl 'm.u .F(s) IW lJ'D9lXil1lJ'Jtlilil

IF I F(!:'~ il'::.$ilJl9illl1

is npnun
nma

nIX D::$JJ m~

m n~ CJWD'

iF W 'lil , 4.15 b ll'::.$, .rrnnn

z-p=3-1=2 . F, IW
111'J mmJ 1]'DD9

nlJ'::$'I

Nyquist

11'ltl'lj7

n~ n'J1ill

IJ1]

Cauchy IW nmu'rsn tl9WD IW rnru;

.llJTI JmJ illj7J

rn.rum

IW

Nyquist criterion 1m rrrun

nlJ.'::$' '''D nDJj7J llJD ,lJPill NJ. 1 + L(s) JmJ
=

.4.3.2,

nrrmr

IW

rmx-n

,1]'D11j7 1]'9'DDJ

1J1~lW '9J IW 1]'Wl1Wil

Return difference n n'::.$j7J19 IW nnnn

KN(s)
T(s)

K N(s)

L(s) 1+ L(s)

L(s) F(s)

D(s) 1 + K N(s) D(s)

nu'::.$'

D(s) D(s) + KN(s) D(s)

mmrien

(4.30)

IW nn

nnn-mmn
IW

IW uanunn

nD'Jj71

tl9WDJ l]'WDnWD 1::.$'J

F(s) IW nnnn

n-ummn

,1] TI~ .1]'Dn'

F(s) 1m u'urnenm n:n il'7'nn

1JJ TIil il'7~ IJN

?T(s)

.T(s) 'runn rmn IW tr mpn

IW 'J'D'il il/nil IlJ nN IllJW

,F(s) 1m 'O'D9~il

is llJDil 11/DD n« lnJ Nyquist ,IT il1JlDJ IllJ Nyquist Il/DD

'mnoru
IlJ nN

.4.1j ll'::.$ ilNl ,5 llW'D llW'Dil

'O'J'::$' -N/il lJ'WllW IW ']'D'il

s-plane

n~ D::$JJ

.s '0/91 runum llW'D 1m

.r

Ny

.Nyquist IW llJDil '7l11JDil 1m npruin

n~ IJj7] ,

'runn 11/DDil
il9'j7D iln"il

F(s) il'::$j7J19il 'r ID

usn

prr.in

.a.rnnn nur'm IF
.n'W~lil IW

TI"j7nD

.Cauchy IW nrmrien

usmn '91

N=z-p
contourA.16 lF~

(4.31)

30 - 4

1m tr mpn '0] nrun 1m 'O'J':S'-~I 1m mll9

.Fis) 1m rmnn
,.~.T
,S

'zm 'O'09~il 1m 'PD'il ]lnil

190D ':snil

~lil

Z,

ilT illj7DJ,

lm~J .nnn

'O'JtJj7 il/~ 1m uumum

llm'D

1:SJ. 'O'~:sTIJil N1il

.runn

nrmn

190D ,m

.rnnsn

im 'O'JtlPill90D

P .ruun .nnn

,z = 0 W -pm] ,nlJ':s'i
rum lJ 'Owi

. Nyquist iw 'J1D'il

contour il 'I' IU 'O'9PlTJil L(s) lJUDil n':sjl]19

llW'Dil-':snJ.

.s 'uur'n

D(s)+KN(s) IW 'O'09~ l"/:-<[JJ .rrtn

'O'DJ.il ,ilJlil

iumn

nunm>

lilT

.TNy Nyquist contour il '1' iu 'O'9j1lTJil rnnsn

.nn.i

inu

~lil 1'~ ,n'WUD 'Oil 'O~ urr nnn D.J

ru-rrm ,ilJ

1U rrrr.nnn

irrnxi

,/J~

.Nyquist criterion 'zm

'J9D

m 'O'J':s'

,pi ,O'Ul1' lJ.J D(s)+KN(s)=0 iw TI'Wl1WilW urnnm

'1J

nlJ.':s'i

,F(s) il':sjlJ19il n~ nrn> rnpm .nrn 'WlPil IU lJ]nill

nurrn

.ml

il':sjlJ19

F(s) -1 = KN(S)/D(s) = L(s)

11'ltJ'ljl

n« nVJ TIJOJ .

(-l+jO) il11j1JI n'W~lilD

m.nn

nlJ':s'il . n'9l0il

rrrun .nr illjlDJ.

urnx;

Nyquist

.Nyquist criterion
jill ,TI~ llW'DI

'run

JmJ.

ilJ.':S'

rrnn
'O'DU9

il/W

rrunpm
n':sjlJ19
r

'O'09~il

'I' IV rnns

nru

runr

nJlUD

L(s) rnnsn

.nnn

I[JJ lJVDil

'1' IV

Nyquist contour il nprmn ,'O~ rrnpin n~ C]ljIun .rmnn

tJ9WDil .

n vm 111'Jil mmJ.

N = -p

[-l+jO] n'tJ'ljlil
mil '11Jil

Nyquist contour

N=z-p
( -1

(4.31)

+ j 0)

nlJ':s'il

rmpi
.nnn Jlnil

IW

ms-pun

190D - N 190D

s llW'D IW 'J1D'il TD ll]Oil .Nyquist contour il '1' IU 'O'9j7lTJil mn9il

vm 'O']tJi/il

-s:
-P

'"Iw 'O']tljlill90D

contour n

.4.17

lPSJ

lTJJ ,il/lX nl'l/l.lJ'D

nnw]

C]ljIDI

nnn

lllllTJll llJD

iVil' lJ/W IXJil J/Wil t1D'jT'J 11/DTJ '19'TJI 19l1XJ .vun IlJ lJDTJ

n'Si/J19

lW91X ,'t1lllX'n

IW IlIXTJ Jl 19DTJ llJD

(J

L(s) nIX Jwnl

11/DTJ 'J9 ID 1/lJ

s IW O'JlD
,t1D'j7"J llW'TJJ

'19'TJil nIX IJi//1 ,/JIX .JJllTJil rrrrm

IT III

.mmm
n'tJ]]/tJJ'lX

ilJl

J il11/TJ rrnn 1X1STJ/1J"/D lW9IXnw

'19'TJ III

IW 'n'TJIX IJIX Jl1j7TJ lllX'n

Modified Nyquist path .4.17 l1'S

nIX t1'/Jn

lWIX .a.mnn llW'TJJ tr-rnpun

rF

.'19'TJil/W

tr'npn

.L(s) l.1DD

nxpns
rmp: IW

"'D .rrnrm

lHIPn7

Nyquist contour

7UJ '19n .4.4

lJDlil 4.29'DDJ

nurr -nm

lX'il lWIXJ IlJ

S

L(s) lJDTJil n'Sj7J19 IW ilJlD nIX O'JwnTJ IS'] L(s) '1" ID '19'TJ lX'il il/lD9il
'JlD IW JJllTJil

.rrzm
llW'TJI

O'Jtlj7ill

0'D91Xil lmTJ llW'TJTJ

.ilTJSD il'Sj7J19il .(4.1 l1'S

OJ illXl) .(4.11)

,S IW JJllTJil

1 (4.10) nlIX1WTJil 'nw nlTDJ .nm O'IIJ

ilWDTJI DSJnTJ '19'TJil

190TJ ID llTJW!

.rn-um

DlJD/',J

.txun

11/DTJil O"i/I

'J9 ID lJ"SI ,

ur: ,I1IXTJJ1Wn 1X1iln't1'lj7il

rrnpin

n9'j7D lill 111'Jil.1

run ID ,'m

Nyquist path il '''D 0"9j7lTJ O'Jtlj7 P O'TJ"j7

nIX JJllTJil llW'TJJ 9lj7DI J"n

nsm uuurn
.nnn IW nlJ'S'

,0'TJD9 -p nlJ'S'il

rmpi

LOw) .runn rr'n n-nr

.DJlj7 lTJ'DillJ/l ./Jlj7TJJ

+X l'SI

Dn'J

.nnmn umn

l11'J IAJ rr'uri .1lDWilllrJ

rr

TI]J Oil

.rnnr

111'J .2 111'J.3
'1]

OD O"JPn

rL 1 rN
lSPI
JJllTJil '''D

L(s) 'zm 11IDTJil mpn.n , T N JlnJJ

Nyquist path

mj7TJJ .n.rrru mum

.4

llW'TJJ

rnmms msnrrr an'zm

nst u-rn

32 _

mJ'~':

4 [ll9

.llD'[I"J

ll'lll'ljl'1'

!U lJUTJil

n'::sjlJ19

m< nnn

.Lts)

KI(s+a) :18 'DTJ iXTJJn

..... JV

s- plane

JCD
4

Nyquist path

2
A a
1

o
5

4' ,5',6', 7'

?'

........ /.

8'

" ~

;/
u 1'

~ ~

-a
8

2'

b
. L(s)=KI(s+a)
'1' !U Nyquist

contour

!W iljlnUil

.4.18 ll'::s

llW'TJ!

L(s) '1' !U mm jI'nml

.Nyquist contour il !D nPJ"9m

.4.18

nrnpi 19DTJ lnJJ

b ll'::sJ

JJllTJil iljlnDil .1

lllljll

lilT ,JJllTJilllW'TJJ

.L(O)=Kla 1J! .s

0 ,IT il1lj1JJ:1 . '1

'OTJ il1lj1J!W

rrnpi .09~ ilT91 Kia !11J TID

.2

.JJllTJil .imprm lJl1TJW .n'I'!w Jllljlil lltJjllil

r -

llW'TJJ

2' il1lj1J! 1n~ ,.~.T

L(s) '1' !D s llW'TJTJ 2 rrnp: !W npnun J<;". A il'il'

lJ.:1ilil ,(4.11)

!11.:1 'jI!n

1 (4.10) nmlWTJ '9! 2 il1lj1JI

-0

'ElTJ lJ!

,1JlTJJ .rr nn

n-nrn . Nyquist

contour il!D

il1lj1JJ

iX'il Jllljl/W 111.:1

nn-um mrmm
A lltljllil/11.:1W

,lJDTJil

n'::sjlJ19 IW ilJJTJJ ~~TJJil JtlljlJ lJ.:1ililTJ ltljl 2 il1lj1JJ I .1 il1lf/JJ lJJilil

IW prrmrm

'J9TJ ,1 il1lj1JJ

n'WiXlilTJ .3

-1'~ lJlm

,3 il1lj1JI

-a ). TIjllTJTJil Jtlljlil
'1J

n« lJnTJillllljllil ID ,~lD-l'~J IW nvrnnn

.3 il11jlJ IW iljlnlJil n~STJJ 3

m~ TI'/Will nrruun ntsrn cx'ilW

r

.nnrmn

l'Sil

rrnpim

'J9TJ '910

,09CX il'il' 4.18 b ll'SJ

lJDTJil

n'SjlJ19

llDil 3 il1WJ

,1J TIcx .Nyquist ; -90° nrr

contour
'''D

3' il1li!JI

,lJ D~ .nprunn

Jllljlil

.JJllTJil D'l'::sil lJDTJil n'W~l/lil Cjcxwnm' il/cx nl1WJ DJlcx :716 ,5 ,4

llW'TJil

n'W~lJ .4

nrnp:

IW iljlnUil

n'SpJ19

111.:n '910-1'cx '0° ll1

~lil DiV/cx +90

0

-a J .nnprm

pmnmu

']9TJ ,4.18

b ll'::sJ
09cxnTJ .5

I -90° TJ ruruun
:1 1U 7

ilT9il IJCX ,il/Co( nnljlJJ

IW iljlnUill npnr

n'lLlTJ'O

cx'il ilT uup i iljlnDil

nrnpm 1'J unpn

!W npnnn

il ncx D'/WTJ il ,4.18

b lFD WlljlTJ IlIOTJ il~l ,3 il1lj1J1

1 il1WJTJ uupn

33 - 4

ilmWD '9; ilJJ'iX

. 4.18 b lFn.

.i.mnr

llW'DJ

rnxun rrrunn

ll1;

Nyquist

contour
t

il

L(;;) lJDDil n'::sjlJ19 ;W iljlnDilW 'J9D .vun .nnr ilJ'::s' nrm r nnnn
=

(4.31)

nmsn .nnn ;W IJ'Jtlj7 l'iX ) P = 0 tin , (0

N) ( -1 + jO) rm-sn
( Nyquist

rrnp: niX nsp m

il '''D IJ'9j7m

contour 0

1J;

.N

z -p

z-0

L(s)
18 'UD iXnJHJ

K (s+ a)(s+ b)
tJD'j7"J '9;

:19 'UD iXnJH mn: :11ln9

nm'J;

1mn

nnn

JC0

JV

:'

..

.»

/...
'". -,

8'

IIL
~'.

.... l'

-b

-a

5 8

a
.L(s)=K/(s+a)(s+b) '1' ;D Nyquist contour ;W npnnn

b
.4.19 11'~

iXlil il'~j7]19il .n'D9N

;W nvmnn

ruin

,.eU

L(s) =K/(a b) nn"j7n

r

0=5 : 1 il11j7J .1 .

rnur

1 il11j7]; nrrnn

TI'JtJjlil ']WW il'il' il'~jI]19il 0° n il;nJ

usn
m'il; l'~il

,D9iX iX'il llD

msm

,K/(a b)

nmnin

rr

nrm

Kra b

> KIA B

;w

nvr mn
il;lJ' llm;

2 il1lj1JJ.2 IJ'JtJj7il ']W '''D .3

. 180° n il]tljl ;JiX ;W tJ;nmil llDil lIn

1J; ,B 1 A 1/1.:1' lJ IJ'JtJilil llD il'il'

.nmrnn

;1.:1 CD W ;nJ

; .npnrn

']W '''D nmrun

n-nrrn
L(s);w

,1tlj7'1 l;' 1nliX ilT .

L(s) il'~iI]19il 2X900

=

. -180° ;w ilT9l U9N nvnm

.1"~J

3'

rrnpri

1800

4',5',6',7'

mTlf,l];

L(s) '1' ;D ipmn-u 4,5,6,7 mT1i1] il 'JJ;

1 1D 7 m1lf,lJil1'J Dllilil;W npnnnn ,

m 11J] 1JTil

. IN;W
(-l+jO) n't]'lilil

iXlil If,lllf,lnil If,lil .4 IJ'NllW '9J

il1lf,lJil niX Cjlf,lD; ;1]" ,n';';w

lJ]'iX IJ;lD;

4.19 b1"~J

rrnn n.nunn

rnnn

ilJTil IJD 11JD JlnJ

,1]; .CjlU-l'iX; CjNW' K lJJilil .ilJ'~'

IJiX 'OJ 1'nn

34 - 4

mJ':S':

4 jl19

L(s)=KI[(s+a)(s+b)(s+c)] JCO
3 4

:20 'OD ~mn

rN
t
(J

JV

2'

-c

-b

-a
8

1'

3',4',5',6',7'
7

a
L(s)=K![(s+a)(s+b)(s+c)] .rn« 'milD
D'm1UJ '9J IW

b.
npnun .4.20 11'S npnnnn

1W~J

ITJIlI

JI

D'UJJ .19 -1 18 'OTJ mxurn.i lTJJ jll'TJ

D:SJnn

, 3X90=2700

nnn nmnm nnm ,3'

ilTljIJI

3 ilTljIJ n~ D'jI'nDD
,1JI .20

I DJnOn

D'JtJjlil

nUJ1/UJ '1' ID lIT1D 'l/nw

nmrnn n-nrn ,co 1llUJ ilP~J

,'WDDill':S1l

b ll'SJ
1

'91 XlJJilll/W
I'TJJ D~, IJC<..lT

'WDD llDJ

nix nsn: L(jco)

I

180°
' nC<.

rrnpi IUJ il9'jlD ]'C<.'J ,0 =N ,(-l+jO) n'tJ'ljlil

'''D 'UJTJTJill':Sil lmn
1]

rrnprn vm nmpn

ilUJD'

L(jco)

J:SDI D'JilllJ1J

.npsun illl:SJ lJAilil

il1jlDJ

.nuen

l11'JJ

n'tJ'ljlil

rrnpin

IUJ

mspu -mnrnrr-p .nr

UJ ~:S1' ,p =

.( -1 ) IlTljIJII~TJWTJ ~mnJUJ 11"JD

0 1J'J9/W

.N= 2

z=N+p=2
.11AO

rm.i ilJ':S'

'n/J

nnn

nJlDTJIl

lJ/1

niTTJ

IUJ J1UJnil

mpnn run ID

>n mD'JSTJ lUJ~J lnp

IJ~

,nP/C<.'ll'ltl

tn
.

20

1 19 ,18

msnrrr

ID D'Jtl17 Il/Jn

lJDDil

n':SjlJ19

ilWP

rrnn ilp'TJil

Nyquist '91
C<

'nn

run rr.io

.rmrmn

1":::$il

.nvmnnn

sn

.rmrm.:

T~il

ID TI'_)tJfI

Ill]

u» lW~J

ilflnDil

.4.4.1

;w

1190D tr'nm

1m ,.cu

,L(:,) = K/[s'

] ;W iXmn TIDi1pnDil; l11il niX l'JOJ

s = re!":, r -)- 0 6 1'

2'

5
4
_,
.J

2'

_"

.J

5'

4'

4'

1=1

1=2

1=3

.nxr rrrun

TID

mun>
lim--. = lim-r->O

;J1J 09iX; CjiX1W O1'11il lWiXJ1 r

«e:"
,.1

r' ellB

-1-

r-+O

co liB = 00 elf e-

11W'DJ D'l'~il

n'WiX1J TI'iX~mWTI'JtlPil nPlTJ1 ,1J'l'~il

niX CjPlDil

rNil

IW DtlPil

.rmn«

D';'DJ

n'WiX1D '910-1'iX prrm i

L(s) '''D nprunn s

If

= -18
eO -90 -45 0 45 90

(4.32)

1 = 1, 2, 3 llJD mnm rnnnsnn niX nDJOD 4.1 il/Jtl

(1=3) \j1 - -3 eO 270 135 0 -135 -270

(1=2) \j1=-2 eO
180 90 0 -90 -180

(1=1) \j1=-eo
90 45 0 -45 -90 .4.21 1FSI tu II

'OD il1WJ 1 2 3 4 5

.nn n

ill iXnnw]

36 _

.D'I'::Sil

n'WN1J

tr repn J'JO

119'tlil

nN n'ilJ'

nmJil

msunrn

L(,s)=K/[s(s+a)(~'+b) ] :21 iln.:ln

JO)

9'

L~I_---"'_
I

JV

;:!

)
2'
I

r, ~"')l.
\
\

t
o
5 1\

\ IiIO'

,-~~

f':"
3',4',5',6',1'

8'

l' ~

b.
. L(s) = K / [s(~'+a)(s+b)]
IW ili7nDil . 4.22 11'::s

lNw'n

il'::si/J19ilW

'1J

,09NI

CjN1Wil 01'11J

11m

'::sn '''D Cji/lD n'WN1J .(

Jtlli/il n'tl'/JN

.n

il/N

.10- 1 9 ,1 nrnp:

WlIW lDJi/J

ilT 11.m -'::sn 'J9 ID .iumru ilN1JW '9J

S

0) n'WNlJ
ili/'1J

,lnl'J

rn nnm
TI'IJOilJ

rrrnpi
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L(s) llW'DI

llW'DD

nrnpmn

i7/n IW npnun

,(4.32) ilN1WDJ 1nl'DJ1

.n-rnnxn

lTD'J .nlD1W .IT N.n.:lnl

'''D

mmrun

rr'nm nuup

1 il11i7JJ . 22 11'::s ilNI ,

I' OD il11i7JI 1 OD,IIl1W) IW npnnn

N'il n'WN.1J CjC<lW r nnn
E

.1

W 'J9D ,1mD

]il b J1

a J D'JtJi7il
rm'zum

'''D

mmrun m-nm.so"nmmn> nl'DJJ

.nnpn

. -( 90o+E) ]]1

.nnn

nrmnrn ,E

Nli7J ,U9NI DJnD m.rum

ur rin rmrm

prnnn

1 il1W) ,]J 'ON .iumru

nnnm nrm«

I' il11i7)1
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b ll'::sJ 11rDil-'::sn
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llJTJ

. L(s)

'''D n« .2 lDJ

CjN1W 22

a 11'::sJ n'WNlil
1'J DtJi7il ni7nDil 19 'UD Nn.:lnJ ID

. I"N IW 3 1 1 nnWJil tr mpn

'9/1tJi71
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ur

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il1WJD D'i7nlnnW

IlJJ,

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lJl ,D'/1J1

l]'J/lil

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IW prrmn

IN

J U9cm'1

,1tJi/'1 l/'

22 b 11'::sJ n'WN.lilD

LUO))

,(4.11) ilNlWD

-4

nlJ'::::l':

4 j?l9

'wnnil

T::::lil ne<
180
0

lmn'

TL.

270 nO'lDO U1'1l

IW rr nvr'rru

nrr IJe<
D'JtJj?il

,D'T::::lil n'We<ln nW1/W IW

U9e< j?nlOJ nnrmn

e<'ilW lWe<J .3

I DJnUn
,'91U-re<

n-nurr

WWe<ll

j?nDl'

IU nle<::::lmil ,3,4,5,6,7

nnlj?Jill'J.

I;" IW nnpn

. 4.22 b lr::::lJ utsn

1',2',3' UtJj?1 'ltJO'U

(C"jlD-re<1 C"je<lW rnr

e<lil 7',8',9'

UtJj?il.4 .5

m : 9',10',1'
IlJ IW

UtJj?1

prnrr nrmnn

,(U9e<1 C"je<lW Ur1lil)

.4.4.1 C"j'UUrrznru

9,10,1 nu=n
illJDlilW

10 il11jIJi
( -I

D'Jtlj7il

nn-nrr

ill1::::lJ

+jO) nlJ'::::l'il HTlj?J ne< C"jj7lDlJJ'e< 4.22 b

lr::::lJ e</Oil

Fi. . 0°
z N+p=O

I DJnUO
,1]/.

IW WJ90il

rmpim

lJ

,K lJJilil

ne< 1'1JJ De< ,/Je< .run JmJ

il1lj7JI

ilJ'::5'

n-nn

rrrumrn DU

(-I) rmpm

ne< C"jlj?U' Ti. W vm ,(-1)

Ie<OWO 'WOOill'::::lil

LOw)

N+p=2+0=2
e<'il

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rupnnn

.s.t

• lJUnil

n'::::lj7J19 IW

'WOOil j7/nil lJlD

lllJUW

Kcrit L(jw)

lJJilil

mil DJl,

'tl'lj7

lJJil

.nlJ'::::l'il

C"jU ,(1-) il1lj?JJ

LUw) .rm«

nr .

= -1
. L(s)
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jim lJJil

,(Proportional, Integral, Derivative)

.1/W il':;;lJtJJ1~ n':;;pJ19 U:;;JI ru ,'JW 1:;;m

PI, jim nunm> ~lilW ,3 'un jlmJ TJlnJ

ilT rnpn.i

rrnn

lpJil

IW lJDnil

.Proportinal+ Integral

G(s)

U(s) E(s)

k]s+k2 s
ilTil p mn WlD'D

C]'Dlil;l , ~lil ;W

-kvk, = s nrr rru D9~ l:;;'1 lWll'9 il1lJ nnlJ~'1J

P(s) T;ilnl
C]'Dlill w' nsm nrm rruun ,lnPJ m) np-nn ';;Jil nun n~ 19mJ Jmilftw

9~ lmnnil

.l/s lltllJtlJ1~
.il1lJ lJUnil nnlJ~'1J rl':;;pJ19

shaping U:;;JI 1Wll'9 nrr mn llW'nJ

llW'DJ nl'Blil D'JJllD

nunnn

nJWil;1D

mnsn

Bode plots;
D'JtJPl

m LJ"WDD D'D9m D'JtJjI '''u

nsmm

~tJJnn

ilT T;iln

.rm-rnn
T;ilnil ;W D'11lJ

LJ'U9~

nsmn

uxirm loop shaping

n~ LJ'l~nnil
1

;W ilT T;iln

.POw)

Bode) rmrrm
'JW l~ .nvumn D'D9~J trumn rnnru

llW'nJ

trrurunn

LJ'nl1JtlD LJ'9lJ1 nm;JtJ

lmn

JtJlP1 D9~ ,/wn; ilT pl9J

nl;;lJil .'lJ1

rmvunn

1lj7'n rnnun .u=umn ,LJ'JJllDl n']];

vm

tu ;J~

.tplots

WlD'WJ psnm

Twin Tee rnnun

m ;J~

D'D9~ 'JW1LJ'JtJp u=umn nm;J.tJ ,LJ'JtJPl .LJ'11lJ.

JtJlj71 LJ9~n D'JJllm

ru.rnnn ruvunn
LJ'JtJp m nun

llj7'n nurri

tr-umn llP'nil

11

LJ'D9~ IW il1lJ IW D'9lJ nnrn 5.5 ll':;;J

nunmn

.12 - 3 1D 8 - 3 LJ'TlDD 13 pl9J

G(s)

l+ars 1+ t: s

Nichols 1 Bode '9;

nrr-rnn

llW'DJ

nrr-n

:5 I7l9

20

F(s)
I I

l+a-rs. 1 + -rs '

I I I I I t I I I 1 I 1
J

u
I I 1 I

"

co 15 ------1-----------T-~-~~-------r---1-'U ," c
I

zg

10 5

- - - - - - 'I - - - -,- - -,- - - - T

I t I I I 1 I

I 1 -1-

,, ,, ,,
I I I

II II -I -I - -

--

---

______

~ __ ~_~_~_~~J
I

oL_--~~~~~~~~~~~~~L---~~~~~~
10-2 10-1 10°
Frequency (rad/sec)

~40
'U OJ
(J)

_c

co

0...

20

Frequency (rad/sec)

.lead-lag llj7'n nun ;W Bode plots .5.5 ll'~

I

rrznn ill lJJJnl

CD=5 r/s

rm-rru

lUJIX lead-lag lljl'n ilT9 nstnn

nUJlJ 'D']']lJJTJ :5.1 'un

xrurt
nIX

. CD = 5 r / s J 5° D ilJtlj7 n'll;]
ll':::Iil 'nnn ;l]'c<nTJil a

l]JJ ;J?X ,10 dB JJ lJJilil

= 3 llnJ;

Tl::::l ,CD>

5 mnru lOdE J ;w lJJil

1:

J1UJil; 'TJ :11ln9

.5.5 ll'~J

C']lJil llm;,

nrmn

ll'::::IJ. l1DnJ .rrnn e<::::Im WJD

mru
r

rnnu
U

Jl';Dil

5° ?X'il ilT9il

8 lUJ?XJUJ ?X~m . a = 3

T.=u/CD=8/5=

. G(s)

1 + 3 x 1.6s 1 + 1.6s

Nichols 1 Bode '91 r nrnn

D'9lJIl rm-rrm Jl90lJlJ ,'JWl llWiXll10n

llW'DJ

ll]J'Jl

:5 ill9

D'09iXl lJ'JtJj7 '7w n=n.n JlmnJl1 ilT J/WJ 190n ,IlT J/WJ nu in

Jlm/JtJ ,llJl91 ;J1J

IlJ DOJJlilJ
,5.5 IF':D JllTlJJ n'tlJil;

nm-u.i urm IW Jll'J119m

1JJJlI rrnn

llW9iX' lWiX 1lil'Jl rnrum .'lJl ( COco)

Jl'O'OJil '911D

.rrn i ;W nmm

mn .rrm

,ilT91 lJJil

.r-nrm

J:sn JliX'JW rrrpn

ll)O

JlnJ

JlJllJD/W

lJ'J'JlDn.

P(s)

1 l[s(1+s)(1+0.2s)}

T/ilJlllJlJ

:5.2 'un iXnJl1

. PM>40o
WtlJil'7 .'I:Slil JlJTJ '7lJ ,

/ K,

10 IW nrr-r:n JliX'JW trrpn n-rr

Tl:S llWiXlil J/WJ .1 :lllJl9

nrrm: nr rr tru
IJVI sK

lJJilil

n« lJlJ[l1

iliX'JWil lJ1[In n« . 1 1m

IJ1JW lJ rrrum>

K lJJil

/lJ lJiX ,c1'D1J .K; = 10

,lJJTJiXl

limsKP(s)
s->o

K .10 =KIW

S----'TO

s(1 + s)(l + 0.2s)

= 10
'l'Dlill il'7'nJlW/lJ

lJlJ[llJJil

,1J;

.5.6 ll':S

iliXl .rrn.i

JlTJlJiX'1J
I I I II

K P(s)

lJ.11P(s) l'/ilJlil
I III

niX le<JlJ .2
I
i

II

J J

40 co 20 "D
(9
C C1J

JJJ

rTT
I I

-20

____

-'

I I

1__
I

L _ L.J
I I

I I t

_'_'_1..1
I I I r

III

_ ..1 __
I

I 1_
I

,
I

I I
I

I r
I

III ! II
I J I

I
I

I
I

I
I

J _ L L 1. .L L
[I I II

,
I

,__ L _ L
I

I I I I! .J _I_I_I_)
I I I I I

L __

III 1'1 IIJ

I I

I I

III II II

-40~~ __~ __~~ __LJ_L~~~ 10-3 10-2

III

__

_L

__

-L__L_L_~~LL

~L_~L_J_J_~I_'LL~I~J

__ L_J__L~~I_LJ

10-1
Frequency (rad/sec)
I

-120

: : : ::
"1 ...., -,-,-,
J

III

arg[,
--

Uvy)] r- "I I I

p'

I I

I I I

I II I II I II

I I I I "1

I I -1-

I I -, -

I I I

I I

II II

I
-, I

1
"I I

1 1I"

r
I I

TTT I I I I I

rI

-'-=-~-~~-= r- I
-

-, -,-,-1'-' - - - - - r - I III

r"

III TT

1I I I I

af -150
"D

I I - ~1 - t- -

r
II

r-

rI

I I III I I-III -I
I III

r - - .,. -

~ -180
..c:
0...
C1J
I

I J J J J arg[\..!JUw *I1Uw\] J J JI -~-~-~~~~~~-----~--~-~-~-~~~~~

I I
I

A.
I

n
I I

-1- "i -

r- r
~ I I I I ,
I

III T T r-

- - - - .., - - -

T-

r- -t
I I I I I

-1-1-1

III

III

I
-j -

I 1- -

I I I I

I II I II III I II

r- I

rI

-1 -I-I-I_'

-210 ----~- __~_~_~4~~~~----_~--4-~-~-~~

I I I I
I I ...J I 1 __ I L I L.....l I I I [

I I I

I I I

I III I III I III I

I

I I

I I , I

I I I

III
I I I I I I

I I
I

•• ~ ---~---~-~
III III
111 ...J L

I II I II III

I [
I ..L_L.-I_I_I_I...J

I
I

J
I

II
I I L __ ...1 I _I_...J_L..L.L I I

-240
103

....1_I_I-! I I I I I I I I

__

__

.....l __

1_..1

LL..L...LL

I I

I I

III III

1 I

I I

I I

III III

I I

I I

I I

II II

III

_:27'OL-~----j_--~---L~~~_L~-:~----~--_L--j__L_LJ_LI~ILLIJJ--------LI----L_~--L_LJ-'LjI_LI~I

~~

~~

__ ~I~J~I~J~1

'10-2

.5.2 'un iXTJJl1IW

mns>

111lJ nrruxv:

.5.6 ll':c;

7-5

Nichols 1 Bode '9;

_135° lX"il nusru

nrr rnn llW'DJ nrr'n

:5 ill9

CDco= 0.78 rad/sec "l'Dlil;

,1ilW;J 'mil] 1P;UW c<;c< .

1lil'n 'J9;

.rr s.m

D'~llW '9J

;U

K = 10;w lJJil il;'nn

PM= 45° W 1c<JD .rm-rn ilnlc<]

K, = 10

ilNlD lPSil ,

.m-rr mn ;1]; 20 dB ;w nsmn

,.C<.T ,WlTJJ

n nc< J'Wil; run

lJJil

- 195° nUJ ~'il

rm-rn

ilnlc<J

.nsn

;Jc<

.o., =

rad/sec 'n;J

.nr

nsmn

DUW
,.C<.T

JSDil

n« 1i1m .150;w
~'il 1+ r s

';';W

PMD"iI .run JmJ ilJ'S'

nnn rrrnmn

,135° lllJJ

nrsn ,CD 0.78 rm-rru =

J10ilD 1li1'n

:D'c<Jil D';li7Wil '9; lag-lead llil'n

nun

vu '7JN

G(s)

l+ars

nan

lJJn;

il'iln 1J'7w ilW'Jil .20 dB J ~lil lJJilil "l0m' , CD 0.78 2': >n 5° D ilJrlil

W'7';Wil
.5.5 lF2D

.nsn nsrnn '7J~

, - 20 dB ;w lJJil '7TJn ~;w

nrtrrum ,nmJ

uriru .
TlS

-140° D lnl';

nm

rr nn nrr-rn
UDjI;lNWJ

ilnlc<J

lmJ;
,5.5 ll'SJ

,CD2':0.78

m-rr-mn tnnru -20 dB ;w il'nlil

.1:

nnrun nc< '7JiI'7 'TJ

. a = 10

nrsn CjlD uurn .~Jil ;li/Wil '9; mm UJilJ

n«

llnJ;

W' ,5° D nmp ntm Cjomnw

nrnnm

n'rlJil;'TJ

.a

= 10 ; ilD'NnDil nrnpm
,1:

nnn n-smn 1li7'nil num

1:

10/0.78

12.8 1J'7

=U / =

0)

,'7JN

. u 2':10

. G(s)
il~lD

= 10

1 + 12.8s 1+10x12.8s

10 1 + 12.8s

1+128s
IT llil'n

nsnun il~smil

. 5.6 ll'S .WlTJJ ,

J1W ilc<l , P(s) '7 ilTD nDlJc<'TJ

nun

'l'OlJ W

PM= 40° ,.~.T, -140° J I:Cil ntsm . CDco=0.78

Plvi= 45°

DJ1 .K, = 20

J'Wil'7 WllT . Pis)

= l/[s(s

+ 2)] l''7iln

11m :5.3 'OD c<DJrT

I '

n90lJ DU91 .lag-lead llj1'n

nun '''u DU9 .nuun D'JlT 'nWJ rrirm n~ 'untn DU9il

lead-lag J1DD lli/'n

nun '''u
:)lln9
.1

.mur-rri
;JilJll''7iln; KlJJil

TDlU~;

.K;= 0.5 ,l';iln;

ililT

C]OlJlJJil

nsmn ~;;

'l'OlJ .mW'Jil'nWJ

.urrnn K; '7JjI'7 'TJ KlJJilil

K s(s+2)

nU'JjI

K;
'7Wl P(s) ;W ilTlJ '7w l.JJilil;W numn

= lims
...... 0

= K = 20
2
.32 dB= 40= K ,)c<JD

rnrrua-r

.rnnum

D'JlTil

-nuri

Twm

'lnc<w ,ll'SJ

nrzmnn

urmr'u.m

.5.7 lP::?J rnnm

P(s)

Nichols. 1 Bode'S; 17° PM ill

rrrr rnn IIW'TJ] rn.i-n :5 vl9 -163° =arg[PUcoco) 1 ;]/X,40 IP ( coco)1

= 1=

0 dB
llll'

.45-17 = 28°] .rnnu D']ll

nrrnn m ltlP

'JlUJ] ilT9il -rnu m< 19W]

.lag-lead llv'Jl ruru :_130° J tlmnlIXil1, 19dB J iXlil 40P(s) IW lJJilil 19dB; arg[P(j1.7)] 1.7
r

UJnJlWJ iXIII :' co=1.7 rad/sec J

4olpUl.7)1 =
ilJllIXJ1 ,-19dB;w .a ';';W
= 10

= -130°

lJJil

~'Dln

»>

J lWIX1li1'Jl rum> D'jllj7T1m ,1JI

= 20dB

nsmnm
. t:

'IJ

.a = 10 llJDW IX~m J1W ,5.5 lr~ '9; .urrnn r il niX Jwnl

6.25 1J; . u

WID nDJ

10/1.7;:::;

10 lmJ;

D'J'lS

,5° n ilJtljl il'ilJl Jl9Dlmnil ilT9il

P(s)=1/s(s+2); G(s)=40(1 +s/0.16)/(1

I

+s/0.016)
J

I ! I

I I

! I I 1 I 1

I'

40 ~ 20
C
r~
'-' I I I I I I I I L I I .L I I I I I II II I I I I I I

-----,--:--'-'-'-'-:---4o:lpu~11-1--'
I 1 I I " I [ I I I I I I

I - ,I I I I I I

r T1I I I II II II

----

--1----:--~--:-1-:-~11--,

0r---~--~----_7--~--~~1-2:~~:~:--------~----~--~~~~~~~---=~~~----21--~--~~~~~
-20
______ , , __
I

.J __ ,_ .J _
I I I

JJ
I I I I

1
I

L __ L _ L _,_ J _,_,_,
I I I I I 'I
I I

I 1 I I _

I
I

I ,

10° Frequency (rad/sec)

,
I I I I I I -,- -1- "1 -,-, I J I I

,,

I I I I

"

I I I

ill U ill

0l-120
en

r-

I III 1II T "1 ., I I I I I I

,,

,,
I

I I I

I I

II II II II II II II II I

I I

arg[.POw)]
I I I I I I I I I I

I I I I I I I

r - - - r- - --_p--.,--,....-<...
I I I I

I I

--~---~--,-~-~-~rTT----I I I I I I -1-_ I I I II 'I II I I , I

cu ..c:

o,

-150

---

- -1I

-1-

~ - _1_ ...._II I I I I I I I I I I I

-+
I I I I I I I

-I I I I I I

ar 9 [GUw)~R{\w)]
I 1 I
",~ __

-l

I I-- _

I I ... _II

l'i I -4 -I_~II
J J

I I I I I

I I
J

I I I
I

II II II
I I

I
I I

10° (rae/sec)
.'iX llln'J
,5.3 cm..ln;w

G(s)P(s) 11 P(s) ; illlJ nnlJIX'1 .5.7 ll'~

Nichols 1 Bode '::J'? nrr tnn

llUJ'nJ

urr

n :5 jll9

:lJ'?

nnn rr-smn

1lj7'nil

nun

G(s)

1 + 6.25s 1+6.25x10s

= 40_1+_6.2_5_s
1+62.5.1'

L(s)

G(s)P(s)

1+ 6.25s 1 + 62.5.1's(s
UJrn D'IXll

+ 2)
11nJ il1lJ nnl.:Jt<"1J lllX'n

.5.7 ll'::n

IL(j1.7)1

= OdB;

arg[L(j1.7)]

= -135°
.UJl1JJ

.lead-lag npn nUJlJ

C]'Dlil/lll~ UJ'
't

UJnnUJ] .5.8 lFSJ

:'J Jl1

,450=PM s)/( 1 +
't

D"iI'?

'1J

,CQo= 6.3

J ,D'IXll

nxm

'9J

iruru

.G(s)= K( 1+a . K =40

.1') rmxnn 1lj7"n nUJlJ UJnnUJJ ,.IX.T ,( lead) nrrp nns 28°

PlnJUJ 1m~n

.i; = 20 rumn

'?UJ D''?lj7UJn

nrr m

nJlilJ

30° J '?UJ mril DIX . a

nD9 C]'Uln lUJIX 1lj7"nil D'J"n

mnsn n'WIXlJ 1JDJiI nun nIX .nnrn . 'JUJil

D'IXll il/JtlJ

K nIX
J'?UJJ

.a = 3 lnJJ

~ 3 llnJ'?

+30° '?Jill'1JUJ
JUJ ,lJ

5.5 ll'~J
unIX '?nlJ'?

CQo=6.3
lll~ UJ'

rrnn u = 0.6
. 0)

lUJIXJ IJIX .

u = 0.6/ CO =6.3

6.3 J 'l~lil
.

PM il nIX '?JilJ
ilJ

IX'? 1J'?1 AdB J '?UJ lJlil

nsrnn rmrm

ilnlIXJ '1J

a ,IT

= 4 lnJJ
ru DD .

-2db 1X1illJlilil

7.1

CQo'? CQonIX 1'1lJ +300 '?UJ mril

.nr

'Wlil '?D lJJnil'? IJiI'? 'lJ

rrr

+2db J '?UJ lJlilil

,n'::J1U.

nsmn
't

DD

n-nr

u=0.24 J
1li7'nil

a = 4;

= u/co = 0.24/7.1 G(s) =

= 0.034

:'::J'?,JUJlnn

nun

1+ 4 x 0.034s 1 + 0.034s

= 40 1 + 0.136s

1 + 0.034s

nrsn -rnn . CQo= 7.1 rad/sec IlJDl

.rrspm '?1l unnn CQo ilW D'lXll ,5.8 lr~J .PM

= 45° .nrmn rnur rr

'::J'?

nIX DIXln IJilnJUJ

( CQo)mnn
n

arm
'?1l

lag-lead 111n9 ,ilJ1UJlXlilll1il

J.nll,'JWilllln9il '9'?

.mrnnsn
.il']WI

']W l'J

nllWil'?
6.3

l"JDn

.nxpru

mun

.nxr nmn>

1!X'1l 1.71 W'1l '?w

1l'

rumrn

mril

nT9 C]'Dln ,(nnNJ

lead-lag
lllDill

mna .nrro
) IW

D~Dn ,DJDIXl .il'JWI '?W lJDnil n'~iI]19 DD lll'9

7.1

I 6.3

rnns nuur:

mnsn rmn

mnn .irm

mnsn .nnn vm

lJlJnil

n'SilJl::J

mnn .irm rnupn

nT9 il9'Dlnll .(nnNJ

'runm )

10 5

P(s)=1/s(s+2); G(s)=40(1 +0.136s)/(1 +s 0.034)

I I , I I I

I I I I I I I I I I t I
It! I

I I I I

I I

I I

I I

40 ~ 20

r---l--~--r-r~-rl1
I
I

I I I I
I

I
J

I I I I
I

------r---T--T---~-T-I I 1 I !

! I

I I
I

-r-r~-rT1----I I I I I I I I

-,- - - I - - - - -, -, T -,-I I I I I I I

f I I

I I I I f

'ro
c.9

0
-20
______ ~
I I

--I-aUWrR-UWjH-:
I I I I I I

~ __ ~_~_~_~lJJ
, I 1

I 1 I

I I I I I

I I I I I

L __
I

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__ L_~J_L1J___
I :::: I I

I,

40*IPUw)
I

40L---~--~~~~~~----~~~~~~~----~~--~~~_U
10-1 10°
Frequency (rad/sec)

101

102

I I I I I I

I I I

I I I I I

I I I I I I I

I I

I I

arg[GU\"I)PUw~]
-rI I

I I I I

~-120 u
Q)
U)

------,----~--~-r-T-rT~~f I I

-j--r-ri-rT'-------r
I I
I

I I

lit I I

.r::
CL

cu

I I I I

I I I I
~_ --II I J I

-150

-1-

--~--~-~-~_~4~~-I I I [ I I r
f

I I I I I

~--~-~~-~+4-------~-I I I I
I

I I
I

I I

~-

I I I I

I I I I

arg[PUw)]
I I

I t I

Frequency (rad/sec)
'J llln9 ,5.3 «n.ut IW G(s)P(s) 11 P(s) I iTTlJ nnlJ~'1
I 5.8

lFS

.mrr llW'nJ nlW'l11lJJ

,Il'9D1J

nrm -mu.i

'lIn lJ1il drs)

rin:u urin

ll1 ilr~J

.'1]1 ,1'1DJ TS1JW

unrin nm
in llJJnl

,5.1 lFSJ

nunsn> nu-nn rnur-rr

,5.31 5.2 nmmnJ

nlJ'~'l nlWjI

.rnnn J~nJ rnxum

~l~n/lm

nPljl'Uil

mur nn

rnur rr> inns

.mnn
l]'J"nn

llJJn

nrnx.i .ilT9il 'lTlD ll1 rrru.n n'DW -rnn ruan n.o

mn .irm ruuin mil .urrnn rnsn Cj11lJ1 'lOlJ .rr.nn lJJil

J/W IlJ lUJ~J ,l]'J/UJJ

.un
nnrr

nrm

lnl'

m.umn nunvrr .llJJn nUJ'l1J UJpJUJ

rmnm .mnso

ll1/W

nl'll]

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Frequency (rad/sec)

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15-

Nichols 1 Bode '91 nrr-trm

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Nichols chart .5.11 ll':::S

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