]<gj]<]<j<^]<]

????
K

??W
K??

K
K
W

KSimulink

K
K

K
K


]<gj]<]<j<^]<]

K
K
K
K
K
K

--

K
K
K

J J

KJ

J J

KJ

--

r(t)

e(t)

p(t)

c(t)

EMBED
Equation.

b(t)

Feedback
Signal

W
b(t)
K

e(t)
K

p(t)
K

K??
K

K
--

J
W

=

W J

{y'(t)+y(t)=x(t)

sY(s)+Y(s)=X(s)

Y(s)
({sH)Y(s)=X(s)

W
G( s) =

Y ( s)
2
=
X ( s ) 0.1s + 1

J
K

E
F
K

--

K J

EF

J J

EFJ
A(s)

A(s)
D(s)

R(s)

B(s)

R(s)

C(s)

E(s)

C(s)

B(s)

()

E(s)
( )

EFEFJ
WEFJ
D(s)=R(s)+A(s)-B(s)

W
C(s)=D(s)-E(s)

WD(s)
C(s)=R(s)+A(s)-B(s)-E(s)

WC(s)

-E(s)-B(s)+A(s)+R(s)

KEFJ EFJ

J J

J
--

A(s)

R(s)

C(s)

C(s)

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

G(s)

G(s)

()

()

EFEFJ

WJ

C(s)=A(s)G(s)

C(s)A(s) A(s)=R(s)G(s)
C(s)=R(s)[G(s)G(s)]

KEFJ EFJ

J J

WEFJ
A(s)=R(s)G(s)
B(s)=R(s)G(s)
C(s)= A(s) B(s)
C(s)=R(s)G(s)R(s)G(s)
C(s)= R(s)[ G(s)G(s)]

W
B(s) A(s)

EFJ EFJ

--

A(s)
G(s)
R(s)
G(s)

B(s)

C(s)

C(s)
i

R(s)

G(s)G(s)

()

( )

EF EFJ

J J

G(s)EFJ

WEFJ
A(s)=R(s)G(s)
B(s)=R(s)G(s)
C(s)=B(s)G(s)

C(s)B(s)A(s)P

: G(s)

A(s)=R(s)G(s)X(s)

A(s)X(s)

A(s)

R(s)G(s)= R(s)G(s)X(s)

W
X ( s) =

G3 ( s )
G1 ( s )

EFJ

--

G3 ( s )
G1 ( s )

A(s)

A(s)

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

G(s)
P

C(s)

R(s)
G(s)

B(s)

()

G(s)

C(s)
i

B(s)

( )

J
qout

J J

KG(s) EFJ

KEFJ EFJ

--

A(s)

A(s)

G(s)G(s)

G(s)
R(s)

P
G(s)

G(s)

C(s)

G(s)

B(s)

R(s)

G(s)

C(s)
i

B(s)

( )

( )

J
qout

J J

G(s)EFJ

EFJ

C(s)=R(s)G(s)-F(s)G(s)
F(s)=A(s)H(s)
C(s)= R(s)G(s)-A(s)G(s)H(s)

C(s)
G(s)

C(s)=R(s)G(s)-A(s)X(s)
F(s)X(s)

C(s)

C(s)= R(s)G(s)-A(s)G(s)H(s)=R(s)G(s)-A(s)X(s)

W
X ( s) = G( s) H ( s)

KEFJ EFJ

--

C(s)

R(s)

G(s)
R(s)

C(s)

+
G(s)

A(s)

A(s)

H(s)

G(s)H(s)

F(s)

F(s)

J J

KG(s)EFJ

EFJ

J J

KEFJ
K

EFJ

E(s)=R(s)-B(s)

B(s)=C(s)H(s)

E(s)=R(s)-C(S)H(s)

--

C(s)

R(s)

C(s)

+
G(s)

G(s)
R(s)

A(s)
H(s)

F(s)

F(s)

H ( s)
G( s)

A(s)

( )

( )

C(s)=E(s)G(s)

C(s)=[R(s)-C(s)H(s)]G(s)

C(s)[(HG(s)H(s)]=R(s)G(s)

T ( s)

C ( s)
G( s)
=
R( s ) 1 + G ( s ) H ( s )

EFJ

(unity feedback)

H(s)=

T ( s) =

G( s)
1 + G( s)

--

R(s)

E(s)

R(s)

C(s)
G(s)

G( s)
1 + G( s) H ( s)

C(s)

B(s)
H(s)
( )
()

J
J J

R(s)
K1 ( s + 20)
s

1
s

1
s

C(s)

K 3 (s + K 4 )
s + K5

J J

--

K
K 1
s

K1 ( s + 20)
s

K
K 1
s

J K
R(s)
+
-

K1 ( s + 20) / s 2
K K ( s + 20)
[1 + 1 2
]s
s2

C(s)

K 3 (s + K 4 )
s + K5

J
T(s)J K

T ( s) =

K1 ( s + 20)( s + k 5 )
C ( s)
=
2
R( s ) s[( s + K1 K 2 ( s + 20)][ s + K 5 ] + K1 K 3 ( s + 20)( s + K 4 )

K
K

--

R(s)

C(s)

10
s

10s
s +1

A(s)

R(s)

C(s)

10s

R(s)

C(s)

10
s+4

20

--

R(s)

( s + 20)
s

1
s

( s + 1)
s+2

--

1
s

C(s)


]<gj]<]<j<^]<]

K K
K K

K K
K K

K K

--

WK
J

y ' (t ) + ay (t ) = bx (t )

y ( 0) = y 0

y ' (t ) + y (t ) = Gx (t )
y ( 0) = y 0

(system parameters)ba

1
a

(Time Constant)E = F

E G = b FG
a

KJ

sY ( s ) y0 + aY ( s ) = bX ( s )

( s + a )Y ( s ) = y0 + bX ( s )
s + a
J

Y ( s ) = y0

1
1
+b
X ( s)
s+a
s+a

--

E
E t 0
x (t ) =
0 t < 0

WJ X(s) X ( s ) = E
s

bE

Y ( s ) = y0

1
1
+ bE
s+a
s( s + a )

1
y0 1 Y(s)J
s( s + a )
s+a

y 0 e t / y0
bE

1
s+a

s( s + a )

bE

1
A
B
= +
s( s + a ) s s + a

WBA

A= s

bE
b
= E ,
s( s + a ) s = 0 a

B = (s + a)

bE
b
= E
s( s + a ) s = a
a

BAJ

bE
bE / a bE / a
=

s( s + a )
s
s+a
b
b
1

E (1 e t / ) E
a
a s( s + a )

W
J

y (t ) = y0 e at +

b
E (1 e at )
a

K b = Ga a = 1 J

y (t ) = y0 e t / + GE (1 e t / )

--

J tEy=F

{GE

{GE

{GE

{GE

{GE

t
y(t)

yss=GE

y(t)

yss
yss

J
y=

--

y (t ) =

b
bE bE at
E (1 e at ) =

e
a
a
a

y (t ) = y t + y ss

bE at
e
a

y t (t ) =

y ss =

bE
a

W
y ss = lim y (t )
t

W
y ' (t ) + 2 y (t ) = 10 x (t )

y (t ) = 5(1 e 0.5t )

= 5 5e 0.5t

y ss = 5

y t (t ) = 5e 0.5t

--

(time constant)
= 1 W
a

F (Settling Time)
WE
t s = 4

(Gain Coefficient)
KG =

y ss
E

A=mJ
KR=s/m

qi(t)

qo(t)

h(t)
A

J
W

Ka

Kb
Kc

qi(t)= m/s Kd
K

--

RA AR dh(t ) + h(t ) = Rqi (t ) K

dt

500

dh(t )
+ h(t ) = 500qi (t )
dt

K
J

=s

J K
G=

h (t ) = h0 e t / + GE (1 e t / )

h (t ) = 1 e 0.002t

h ss = 1m

J J

--

W
J

a 2 y" (t ) + a1 y ' (t ) + a0 y (t ) = bx (t )

Kbaaa
J
J

y" (t ) + 20 y ' (t ) + 02 y (t ) = cx (t )

??E

a1
= FW
2 a 2 a0

E 0 =

a0
a2

FW

KJ

K=0

J
W
J

s 2Y ( s ) + 2sY ( s ) + 02Y ( s ) = bX ( s )

WJ

( s 2 + 2s + 02 )Y ( s ) = bX ( s )

Y ( s) =

b
s 2 + 2s + 02

X ( s)

E t 0
x (t ) =
0 t < 0

WJ X(s) X ( s ) = E
s

Y ( s) =

bE
s( s + 2s + 02 )

--

s 2 + 2s + 02

= 4( 2 02 ) K

EF>

E>1F>

r1,2 = 2 2
0

J
J

Y ( s) =

bE
s( s r1 )( s r2 )

J
J

Y ( s) =

A
B
C
+
+
s s r1 s r2

A = sY ( s )

s=0

B = ( s r1 )Y ( s )

C = ( s r 2 )Y ( s )

= b02 =

s = r1
s = r2

bE
r1 r2

bE
r1 ( r1 r2 )

bE
r2 ( r1 r2 )

J CBA
J

Y ( s) =

r2
r1
bE 1
1
1

[ +
]
2 s r r
r1 r2 s r2
0
1
2 s r1

y (t ) =

bE

02

[1 +

r2
r
e r1t 1 e r2 t ]
r1 r2
r1 r2

--

EF>=

E=1F=

r1 = r2 = 0

J
J

Y ( s) =

bE
s( s 0 ) 2

J
J

Y ( s) =

A
B
C
+(
+
)
s
s + 0 ( s + 0 ) 2

C=

bE

B = bE2 A = bE2
0

J CBA
J

Y ( s) =

1
1
b 1
[
]
0
02 s s + 0
( s + 0 ) 2

W
J

y (t ) =

bE

02

[1 (1 + 0 t )e 0t ]

EF><
E<1F<
r1 ,2 = j 02 2
d

= 02 2

s 2 + 2s + 02 = [( s + ) jd ][( s + ) + jd ]

s 2 + 2s + 02 = ( s + ) 2 + d2

J
--

bE

Y ( s) =

s[( s + ) 2 + d2 ]

Y ( s) =

A
Bs + C
+
s ( s + ) 2 + d2

WCBA
A = bE2
0

B = bE2

0
bE
C = 2

02

y (t ) =

bE

02

[1

02 2

e t sin(d t + )]

= cos 1
J

= cos 1
0

WJ =0

y (t ) =

bE

02

[1

1 2

e 0 t sin(d t + )]

J
W
W

--

<1

>1

=0W
WJ =0

y (t ) =

bE

02

[1 cos(0t )]

e(t)KJ

K
J

di
+ Ri + K e = e
dt

--

- ) (=0

R
B

--

K
J

d
+ B =
dt

K
J

K t i =

i=

d
+ B
dt
Kt

J i

a2

d 2
dt

+ a1

d
+ = Ge
dt

m = J

B
e = L
R
m e RB
a2 =
K e K t + RB
a1 = ( m + e ) RB
K e K t + RB
Kt
G=
K e K t + RB

kg.mWJ

N.m.s/radWB
HWL

WR
N.m/AWKt
VWE

rad/sW

V.s/radWKe

W
--

0 =

1
a2

a1
2a 2
a
= 1
2 a2

J={ kg.m
B={ N.m.s/rad

L={H

R={

Kt={N.m/t

Ke={Vs/rad
W

K
K
K
K
K

K
K

J 6.2 10 4
=
= 6 .2 s
B 1.0 10 4
L 0.02
e = =
= 0.0167s
R 1.2

m =

K
K

Gaa K
a={
a={
G={

--

0.00630

d 2
dt

+ 0.379

d
+ = 21.8e
dt

0 =

1
=
a2

1
= 0.0794
0.00630

a1
0.379
=
= 2.3875
2 a 2 2 0.00630

K>1 K
K

0.00630s 2 + 0.379s + 1 = 0
W
r= {
r= {

J EF>1

y (t ) =

bE

02

[1 +

r2
r
e r1t 1 e r2 t ]
r1 r2
r1 r2

(t)

b={EFE=V 0rr

(t ) = 137.2796[1 + 0.0506e 57.3931t 1.0506e 2.7657t ]

J
--

(t)

- -

W
y (t ) = y t + y ss

K
--

W
y ss = lim y (t )
t

K J
W

(delay time)td

(rise time)tr

(peak time)tp
tp =

02 2

0 1 2

(settling time)ts
EF

W(Maximum overshoot)Mp
2
M p = y p y ss = e / 1

yssyp

(percentage of overshoot)PO
y p y ss

y
G = ss
E

y ss

100

(static gain)G
d = 02 2 = 0 1 2

Td =

1
Td

fd =

--

K
K

KW

yp
Mp

.%

td tr

tp

ts

--

y ' (t ) + 10 y (t ) = 10 x (t )
y ( 0) = 0

5 t 0
x (t ) =
0 t < 0

10 y ' (t ) + y (t ) = x (t )
y ( 0) = 0
10 t 0
x (t ) =
0 t<0

KFRC

V
K

KEF
--

y" ( t ) + 3 y ' ( t ) + 2 y ( t ) = 2 x ( t )
y (0) = y ' (0) = 0,

1 t 0
x (t ) =
0 t < 0

--

y" (t ) + 2 y ' (t ) + y (t ) = 10 x (t )
y (0) = y ' (0) = 0,

1 t 0
x (t ) =
0 t < 0

y" (t ) + 4 y ' (t ) + 8(t ) = 16 x (t )

y (0) = y ' (0) = 0,

5 t 0
x (t ) =
0 t < 0

J={ kg.m
B={ N.m.s/rad

L={H

R={

Kt={N.m/t

Ke={Vs/rad

()
--

(t)

To: Y()

td

tr
tp

Mp

--


]<gj]<]<j<^]<]

o
o
o

--

SimulinkK

K
J
J

Kc(t)b(t)r(t)b(t)r(t)
e ( t ) = r ( t ) b( t )

R(s)

E(s)

C(s)
G(s)

r(t)

e(t)
B(s)

c(t)

H(s)

b(t)

J
(H(s)=)
-
-
-

e( t ) = r ( t ) c ( t )

s
E ( s )) = R ( s ) C ( s )

W
T ( s) =

C ( s)
G( s)
=
R( s ) 1 + G ( s )

W
C ( s) =
--

G( s)
R( s)
1 + G( s)

WJ C(s)
E ( s) =

1
R( s )
1 + G( s)

J
J

W
Gp(s) o
Gc(s o

R(s)

E(s)

r(t)

C(s)

P(s)
Gp(s)

Gc(s)
e(t)

p(t)

c(t)

J
(Gp(s) Gc(s))

G(s)=Gc(s)Gp(s)

G c ( s )G p ( s )
C ( s)
=
R( s ) 1 + G c ( s )G p ( s )

W
E ( s) =

1
R( s)
1 + G c ( s )G p ( s )

J
W

p(t)=Kpe(t)
--

P(s)= KpE(s)

W
Gc ( s) = K p

WR
t0

R0
0

r (t ) =

t<0

R
R( s) = 0
s

G p ( s) =

1
s + 1

J R(s)Gp(s)Gc(s)
W

E ( s) =

1+ K p

1
s + 1

R
0
s

E ( s ) = R0

s + 1

s(s + 1 + K p )

e ss = lim sE ( s ) = lim sR0
s 0

s 0

s + 1

s(s + 1 + K p )

R0
1+ K p

KKKp

Simulink J
r (t ) = 1 G p ( s ) =

--

1
W
s +1

Kp =2

Kp =5

K p = 10

KJ

KP=

KP=

KP=

J
W

p(t ) = K I e( )d
0

W
Gc ( s) =

--

KI
s

WR
t0
t<0

R0
0

r (t ) =

R
R( s) = 0
s

G p ( s) =

1
s + 1

J R(s)Gp(s)Gc(s)

E ( s) =
1+

KI
1

s s + 1

R
0
s

E ( s) =

s (s + 1)

R
0
(s + s + K I ) s
2

R
s (s + 1)
=0
e ss = lim sE ( s ) = lim s 0
s (s + 1 + K I )
s 0
s 0

Simulink

W r (t ) = 1 G p ( s) =
K I = 0 .1

K I = 0 .2

KI = 0.3

s +1

KI = 2

J (Simulink)
K

--

1.4

KI=

1.2

KI=

KI=

0.8

KI=

0.6

0.4

0.2

10

15

20

J
W

p (t ) = K p e(t ) + K I e( )d
0

Gc ( s) =

K ps + KI
s

R( s ) =

R0
R
r (t ) = 0
s
0

t0
t<0

WR

G p ( s) =

1
s + 1

--

J R(s)Gp(s)Gc(s)
W

E ( s) =
1+

1
K ps + KI
s

1
s + 1

R
0
s

E ( s) =

s (s + 1)

R
0
s 2 + s( K p + 1) + K I ) s

R
s(s + 1)
e ss = lim sE ( s ) = lim s 0
=0
2
s (s + s (1 + K p ) + K I )
s 0
s 0

J
K

J
WSimulink
r (t ) = 1 G p ( s ) =
K I = 2,

K p =1

K I = 1,

K p =1

s +1
K I = 1, K p = 2

J (Simulink)
K

--

K I = 2,

K p =1

K I = 1,

Kp =2

K I = 1,

K p =1

J
W

p(t ) = K p e(t ) + K I e( )d + K D
0

de(t )
dt

-
Gc ( s) =

KD s2 + K ps + K I
s

R
r (t ) = 0
0

t0

t < 0 R

R
R( s) = 0
s

--

G p ( s) =

1
s + 1

J R(s)Gp(s)Gc(s)

E ( s) =
1+

KD s2 + K ps + K I
s

1
s + 1

R
0
s

J
E ( s) =

s (s + 1)

R
0
( + K D ) s 2 + ( K p + 1) s + K I ) s

R
s(s + 1)
=0
e ss = lim sE ( s ) = lim s 0
2
s ( + K D ) s + ( K p + 1) s + K I
s 0
s 0

SimulinkJ J

r (t ) = 1 G p ( s ) =

s +1

K I = 1,

K p = 1 , K D = 2 W o

K I = 1,

K p = 1 , K D = 1 W o

K I = 2,

K p = 1 , K D = 0.2 W o

K(PID)J

--

Kp

Constant

Ki

s+
To Workspace

G(s)

Kd

simout

du/dt

PIDSimulimk J

K I = 1,

K p = 1, K D = 2

K I = 2,

K p = 1 , K D = 0 .2

K I = 1,

K p = 1, K D = 2

--

K

K

Simulink K
K

--

R(s)
r(t)

E(s)

1
s +1

e(t)

C(s)
c(t)

F(s)

f(t)

R(s)
r(t)

E(s)

10
s+2

e(t)
F(s)
f(t)

C(s)
c(t)

2
s+4

--

K
K

R(s)

E(s)

r(t)

e(t)
B(s)
b(t)

C(s)

K
s+2

c(t)

2
s+4

ess
Kp

C(s)

Sum

Ki

--

Constant

s+
G(s)

Constant

ess
Kp

Ki

C(s)

s+
G(s)

Kd

du/dt

--


]<gj]<]<j<^]<]

W
K
K

K
K

--

K
K

Wy(t) L = lim y(t )

t

KEFL

Wt
y (t ) = A0 + A1e r1t ....
Wri
lim Ae
t

rt

A, r = 0

= 0, r < 0
r > 0

W
ri 0
K

WW

a n y ( n ) (t ) + a n 1 y ( n 1) (t ) + .... + a 2 y" (t ) + a1 y ' (t ) + a 0 y (t ) = x (t )

W
--

y(t)y'(t)
y(t)y"(t)

KKKy(t)y()

a n s n + a n 1 s n 1 + .... + a 2 s 2 + a1 s + a 0 = 0

nnH W

sn
sn
sn
sn

a 4 .....

a n 2

W
a n 1

a n 3

a 5 .....

WW

an

an

an 2

an 3

an 1

an 3

an 5

c3

c1

c2

d1

d2

z1

d3

a n a n 3
a a
c1 = n 1 n 2
a n 1

a n a n 5
a a
c 2 = n 1 n 4
a n 1

c a
a n 1c 2
d 1 = 1 n 3
c1
c a
a n 1c3
d 2 = 1 n 5
c1

K
--

W
y ' (t ) + 2 y (t ) = 3 x ( t )

K
K

W K

sH=

W K

nH=n=W

s
s

K
KK

y ' (t ) 6 y ( t ) = 2 x (t )

K
K

K
W

s =

W K

W K

nH=n=W

--

s
s

W
y " +2 y ' ( t ) + 2 y ( t ) = 3 x ( t )

K
K
K
W

W K

s 2 + 2s + 2 = 0

W K

nH=n=W

s

c
s
Wc

a n a n 3
a a
c1 = n 1 n 2
a n 1
2220
2
c1 = 1

c1 =

s
s
s

K
K
--

W
y"+ y ' ( t ) 6 y ( t ) = 3 x ( t )

K
K

K
W

W K

s2 + s 6 = 0

W K

nH=n=W

s

c
s
Wc

a a
a n a n 3
c1 = n 1 n 2
a n 1
1 ( 6) 1 0
1
c1 = 6

c1 =

s
s
s

K
K
WW

K
K
--

W
y ' ' ' (t ) + 4 y ' ' (t ) + 100 y ' (t ) + 500 y (t ) = x (t )

K
K

K
W

W K

s 3 + 4 s 2 + 100s + 500 = 0

W K

nH=n=W

s


s

c

s

c
s
Wcc

a n a n 3
a a
c1 = n 1 n 2
a n 1

a n a n 5
a a
c 2 = n 1 n 4
a n 1

--

s
s
s
s

K
W

R(s)

C(s)

E(s)
K

G(s)

F(s)
H(s)

W
W

KW
KK
W

s 3 + 2s 2 + 4s + K = 0

KK K

--

W K

s
s
s

8K
2

K
s
K

8K
>0
2
K >0

WK

0< K <0

--

y ' (t ) + 7 y (t ) = 8 x (t )

y ' (t ) 147 y (t ) = 20 x(t )

2 y" ( t ) + 6 y ' ( t ) + 4 y ( t ) = 8 x ( t )

K
K

y" (t ) 16 y ' (t ) + 14 y (t ) = 8 x (t )

W
s 5 + s 4 + 6s 3 + 4 s 2 + 2 s + 1 = 0

--

C ( s)
K
=
4
3
R ( s ) s + 3s + s 2 + 2 s + K

K K
K K

--


]<gj]<]<j<^]<]

--

K dB

K
K

J
r(t)

c(t)

r (t ) = a sin t

(amplitude)r(t)

(rad/s)
tK

(Hz)f = 2f

K
c(t ) = b sin(t + )
K
K

K(phase shift)g=b/a
--

R(s)

E(s)

C(s)
KG(s)

r(t)

e(t)

c(t)

F(s)

H(s)

f(t)
-

T ( s) =

C ( s)
KG ( s )
=
R( s ) 1 + KG ( s ) H ( s )

W
W

F (s)
= KG ( s ) H ( s )
R( s )

K(decade)

KGH dB

W()

js
j =

KG ( j ) H ( j ) = x + jy

--

KG ( j ) H ( j )
KG ( j ) H ( j ) = x 2 + y 2

WdB
KGH dB = 20 log KG ( j ) H ( j )

()
= KG ( j ) H ( j ) = tan 1

y
x

KJ

Bode Diagrams

Phase (deg); Magnitude (dB)

-
To: Y()

-
-

Frequency (rad/sec)

--

G(s)=K

dBWdB
G db = 20 log K

WW

K >0
0,
180 K < 0

K>EFJ

Bode Diagrams

41

40.5

40

39.5

39

To: Y(1)

Phase (deg); Magnitude (dB)

From: U(1)

0.5

-0.5

-1
-1
10

10

10

Frequency (rad/sec)

K>EFJ

--

10

K=EFJ

K= G dB = 20 log 100 = 40

Bode Diagrams

From: U(1)

To: Y(1)

Phase (deg); Magnitude (dB)

41
40.5

40

39.5

39

181
180.5

180

179.5
179
-1
10

10

10

Frequency (rad/sec)

10

K> EFJ

K= EFJ

K= G dB = 20 log 100 = 40

G(s)=s

j sG(s)
G(j)=j

WW

G( j =

dBWdB
--

G db = 20 log G ( j ) = 20 log

W
G(j)=Hj

= tan 1

= 90 o

={J
Bode Diagrams

40

From: U(1)

-20

-40

To: Y(1)

Phase (deg); Magnitude (dB)

20

91

90.5

90

89.5

89
-1
10

10

10

10

Frequency (rad/sec)

X = log

K/decadedB G db = 20 X
WdB

G db = 20 log G ( j ) = 20 log = 0

K = 1 = 2 =

--

G( s) =

1
s

j sG(s)
G( s) =

WW

G ( j =

dB

dB

G db = 20 log G ( j ) = 20 log

= 20 log

=G(j)
=-j
=

K={KJ
W

dB/decade

K = 1 = 2 dB

K
K

--

40

20

From: U(1)

Phase (deg); Magnitude (dB)

Bode Diagrams

To: Y(1)

-20

-40

-89

-89.5

-90

-90.5

-91
-1
10

10

10

10

Frequency (rad/sec)

G( s) =

1
1 + s

j sG(s)
G ( j ) =

WW
G ( j =

1
1
1
=
=
1 + j 1 + j
1 + ( ) 2

dBWdB

G db = 20 log G ( j ) = 20 log

1 + ( ) 2
--

= 10 log(1 + ( ) 2 )

WW

=G(j)=-(Hj)
=-tan ()
=tan ()
c =

cW

G dB = 10 log(1) = 0
cW

G dB = 10 log( ) 2 = 20 log

dB/decadecdB
K=cdB

(=c) (=c)

G db = 20 log G ( j c ) = 10 log(1 + 12 ) = 10 log 2 = 3dB

lim = 0 lim =
2
0

= 90o

W

c
{c
{c
c
c

{
={J

--

Phase (deg); Magnitude (dB)

Bode Diagrams

-
-

Frequency (rad/sec)

G ( s ) = 1 + s

j sG(s)
G ( j ) = 1 + j

WW
G ( j = 1 + j = 1 + ( ) 2

dBWdB

G db = 20 log G ( j ) = 20 log 1 + ( ) 2 = 10 log(1 + ( ) 2 )

WW
--

=G(j)= (Hj)
=tan ()
c =

cW

G dB = 10 log(1) = 0
cW

G dB = 10 log( ) 2 = 20 log

c
dBdB/decadecdB

K=c

G db = 3dB (=c)

lim = 0 lim = = 90 o
2
0

{c
{

{c
{

c
{

={J

--

Bode Diagrams

From: U()

Phase (deg); Magnitude (dB)

To: Y()

Frequency (rad/sec)

G( s) =

02
s 2 + 2 0 s + 02

j sG(s)
G ( j ) =

02
( j ) 2 + 2 0 ( j ) + 02

W()
--

G ( j ) =
(j

2
) + 2 ( j
) +1
0
0

G ( j ) =

[1 ( ) 2 ] + j 2 ( )
0
0

G ( j =
[1 (

2 2

) ] + [2 ( )2
0
0

dBWdB

G db = 20 log G ( j ) = 20 log [1 (

2 2

) ] + [2 ( ) 2 ] = 10 log [1 ( ) 2 ]2 + [2 ( ) 2
0
0
0
0

WW
2

) ] + j 2 ( )
0
0
2

=G(j)=- [1 (
=- tan 1

02 2

G dB = 10 log(1) = 0dB

W
2

0
0

G db 10 log [(

2 2

) ] = 40 log
0
0

dB/decadedB
K=dB

--

W
lim = = 180 o

lim = 0

o
lim = 90

= J

Phase (deg); Magnitude (dB)

To: Y()
-

=
=

-
-
-

Frequency (rad/sec)

= J

KG ( s ) H ( s ) =

100
s(0.2 s + 1)

j sG(s)
--

G ( j ) =

1
100
=
j j[1 + j 0.2 ]

W
G ( j =

100
100
1
=
=
j[1 + j 0.2 ]
j 1 + j 0.2 1 + (0.2 ) 2

WdB

G db = 20 log G ( j ) = 20 log 100 20 log

1 + (0.2 )

= 40 20 log 10 log(1 + (0.2 ) 2 )

WW

=G(j)=-[j(Hj{)]
=-(j)-(Hj{)
= -tan ({)
c =

1
=5
0.2

EF 20 log 100

EF 20 log

EF 10 log(1 + (0.2 )2

W
lim = = 180o

lim = 90o
0

{c

W
c
{c
c
c

--

WJ

Bode Diagrams

Phase (deg); Magnitude (dB)

-
-

-
-
-
-
-

100
j[1 + j 0.2 ]

Frequency (rad/sec)

100

1
j

1
1 + j 0 . 2

WJ

(gain crossover frequency)G

dB

(phase crossover frequency)p

(gain margin)mG
E=pFdB
--

(phase margin)mp

E=GF

m p = ( G ) + 180

Bode Diagrams

Phase (deg); Magnitude (dB)

mG

-
To: Y()

mp

-
-

-
-

Frequency (rad/sec)

W
W

W
K

W
--

K
K

K
K
EF

K
K

(phase lead K
(phase lag compensators)

KEcompensators)

s +1
Gc ( s) = z
ss +1

z=pp<z
W

W js

Gc ( s) =

1 + j z
1 + j s

WdB

g c dB = 20 log 1 + ( z ) 2 20 log 1 + ( p ) 2

= tan 1 z tan 1 p

--

z=p={ J

max 55o
max = G zpK max = z p = 3.1623

K G

Bode Diagrams

From: U()

Phase (deg); Magnitude (dB)

Frequency (rad/sec)

s +1
Gc ( s) = z
ss +1

p=zp>z

z ={p=
K
--

max 55o
max = G zpK max = z p = 3.1623

Bode Diagrams

Phase (deg); Magnitude (dB)

From: U()

-
-

-
To: Y()

-
-

Frequency (rad/sec)

J
K

W
dBJ

m p < 45o K m p = 13o G = 22rad / sec

K

Gc =

0.1s + 1
0.01s + 1

K
W

--

KG =

100(0.1s + 1)
s (0.2 s + 1)(0.1s + 1)

Phase (deg); Magnitude (dB)

-
To: Y()

-
-
-

Frequency (rad/sec)

J J

dB
m p = 58o G = 22rad / sec
K

K dB

--

dB
G ( s ) = 1000 K

G ( s ) = 200 K

10
K
s
50
G ( s ) = K
s
10
K
G( s) =
0.01s + 1
100
G( s) =
K
0.1s + 1
1
G( s) =
K
(0.1s + 1)( s + 1)

G( s) =

G( s) =

1
10
G ( s ) =
K
(0.1s + 1)( s + 1)
0.01s + 1

G( s) =

9.7
s(0.046s + 1)

--

G( s) =

100
s(0.02 s + 1)(0.01s + 1)

Gc ( s) =

0.5s + 1

5s + 1

--

C ( s)
10
=
J
R ( s ) s ( s + 1)

C ( s)
= 10 + 10s J
R( s)
C ( s)
10
J
=
R ( s ) s + 204

C ( s)
10( s + 2)
=
J
3
R ( s ) s + 20s 2 + 41s + 2

y (t ) = 1 e 0.1t EF G = 1 EF = 0.1 EFJ

y (t ) = 1 + e 10t EF G = 1 EF = 10 EFJ

y (t ) = 1 e 2t + e t EF G = 1 EF 0 = 1.414 = 1.06 EFJ

0.2v ' (t ) + v (t ) = e(t ) J

y (t ) = 10 10(1 + t )e t EF G = 10 EF 0 = 1 = 1 EFJ

y (t ) = 2[1 2e 2t sin 2t ] EF G = 2 EF 0 = 2 2 = 0.707 EFJ

33.215" (t ) + 0.325' (t ) + (t ) = 20.372e(t ) EF e = 0.0625 m = 0.64 EFJ

--

= 0.03 EF 0 = 0.1735 EF

(t ) = 20.372[1 e 0.005t sin 0.1735t ] EF

G = 1 EF PO = 16 EF M p = 0.16 EF t s = 0.9 EFEF t r = 0.28 EF t d = 0.07 EFJ

e ss = 0.5 EF E ( s ) =

e ss = 0.285 EF E ( s ) =

s +1
EF G ( s) = 1 EFJ
s ( s + 2)
s+2

( s + 2)( s + 4)
s( s 2 + 6s + 28)

EF C ( s) =
R( s )

10( s + 4)
s 2 + 6s + 28

EFJ

e ss = 0 EF E ( s ) =

( s + 2)
s 2 + 3s + 2

EF C ( s ) =
R( s)

( s + 1)
s 2 + 3s + 1

EF Gc ( s) = s + 1 EFJ
s

e ss = 0 EF E ( s ) =

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

EF C ( s ) =
R( s)

s2 + s + 1
2s 2 + 2s + 1

EF G c ( s ) = s

+ s +1
EFJ
s

s + 7 = 0 EFJ

1
7

EF

EF
s 147 = 0 EFJ

1
147

EF

EF

--

2 s 2 + 6s + 4 = 0 EFJ
2 4

EF

EF

s 2 16s + 14 = 0 EFJ
1

14

16

EF

EF
1
4
2
2
1

6 2
4 1
EFJ
1
1

EF

1
3
1/ 3
2 9K
K

1
2
K

EFJ

0 < K < 2 / 9 EF

--

= 90 o G dB = 20 20 log EF = 180 G dB = 46 EF = 0 G dB = 60 EFJ

= tan 1 (0.01 ) G dB = 20 10 log[1 + (0.01 ) 2 ] EF = 270 G dB = 34 20 log EF

= tan 1 (0.1 ) G dB = 40 10 log[1 + (0.1 ) 2 ] EF

= tan 1 (0.1 ) tan 1 (0.1 ) G dB = 10 log[1 + (0.1 ) 2 ] 10 log[1 + 2 ] EF

= 57 o G = 7.82995 EF = 106 o G = 995 EFJ

= 70 o G = 8.86 EFJ

EF = 60 o G = 10 EFEF = 10 o G = 56 EFJ

--

AC Motor

Actuator

Analog

Armature

Automation

Block Diagram

Bode Diagram

Cascade
Characteristic Equation
Characteristics

Chart Recorder

Closed Loop

Compensator

Control system

Control Valve

Controlled Variable

Controller

Critical Damping

Cutoff Frequency

Damping

DC Motor

Delay Time

Derivative

Derivative Controller

Design

Digital

--

Disturbance

Dynamic

Error

Feedback

Feedback Path

Final Control Element

Flow Meter

Flow rate

Forward Path

Frequency Response

Gain

Gain Crossover
Frequency
Gain Margin

Hydraulic

Input

Integral

Integral Controller

Lag Compensator

Laplace Transform

Lead Compensator

Level

Magnitude

Manual Control

Matrix

Motor

Open Loop

Oscilloscope

--

Output

Over Damping

Overshoot

Parallel

Peak Time

Performance

Permanent Response

Phase Crossover
Frequency
Phase Margin

Phase Shift

Pneumatic

polynomial

Potentiometer

Process

Programmable Logic
Control
Proportional

Proportional Controller

Reference Input

Resonance Frequency

Response

Response Curve

Rise Time

Root

Sensor

Series

Set Point

Settling Time

--

Signal Conditioning

Signal Conversion

Simulation

Specification

Stability

Stability Criteria

Step Input

Stepper Motor

Summing Junction

System

Tachometer

Take off Point

Time Constant
Time Domain Response
Transducer

Transfer Function

Transient response

Two Position Control

Underdamping

Unit step

Unity Feedback

--

. Johnson, C. D. Process Control Instrumentation Technology, Prentice Hall,

. Bateson, R. N. Introduction to Control Systems Technology, Prentice Hall,

. Ogata, K. Modern control Engineering, Prentice Hall,
. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson Wesley,

--

J
J J
J J
J

J
KJ
J J

J J
J J

J J
J J

J J
J J
J J

J J

J J

J J

J J

J J

J J

J J

J J

J J

J
J

J J

EF
GOTEVOT appreciates the financial support provided by BAE SYSTEMS