| 22 Con vents Le | CH5s The PerSormance of Feedbaclt ae Pages Con bol Saebem = reeds taec Greg (4) WoO Tesh, WyRuh Stonallc @ 5.3 PecLormance oF Second-order qi System 5.4 EPSects of a third pole and Zero (£3) on Pie Secondtorder System ResPonse K.S The S-Plane Root Lecakion Ts and “the Transient Cesponse we ¢ PerYormane Indices rs | CHé8 Sta lorlity oF Linear Feedback Systems | oe 6.4 The Concert oF A laky (23 6.2 We Routh— Harwité ne eee Skailaty| EWRSs The Pet formance ony Feed back oO ae Conta Lystem ee SS Ben Tnbroducttey en a Bl Contfol System are dynamic Es geo their Performance is usually, specined, tn terms o% ‘oth i The Vronsient Response Tey q S beads State Response “Sgr” aus) aay ! SSR TRe is the Cesgense Bap | AsahPeas with Tyme, I ( BSRe is the tesponse that Ensk Lol ong Time Time Seltesing an wngat woh anal ini babren TR ( SS » Ame52 West Tnput Signals 3 lH Genetal Form Le rie at’ ty Ru) = And ned S (L| Stee mout rs AP sh 2 RRO = = YWe | Time Time Ge = Sj Rss =t Bj Rame_topub ee (b= At —e Rosy= 4 =4 Tne ees Rez t a) 3 Pafabolic Vopak « VQ) = At*—» Re= 2h fib= S—e» feat o Time(pa ie 2 | 14 Per borimance _ Nest atder Sysbem (3) | ee eae DE es | Time Constant pe Le Time needed Yor the System ko Yeach 63% ob TES Yell value CUE mig ey, Ua ate Geri Caer! a BEE Ge ss * xp — is 2 Y= 5-SE nee Pig L Fs ws ot tal ' Mi pis © (Hosea ] Wen cags eo UO RE eb yes) Jeo oN a OS Yine ones 04 4.7.94 Solution fi] yct= 0.637 0.4 = 0.567 2) yt = -oast pod = 0-567 ee be ee roma oi Fed & Ba ig hae Os oat are o.4 aa. — ts Bt ae 1 st'—Rs a bus ol =(1 5-3 PerGsrmance of Second Roses Sgstems BTR Can be aacet belt a tn Terms of 2 Vacbors 2 i Bey be Setftrecs of (esgonse repented by LT £1] Z The closeness of Die vespense Be ae the desired valuge represented by LT $ owthot ] Po ee . eg Waly B Rise Time We i @) (og di we on x : 4 ‘ ' ‘. 3 i a Time Ty ine c=) za t=? gests THe | fx Sgibling Vere 1 Vime ooRt wey TR] ove(sheot ri a See, Pay er Sha SSR Sy Yes a a Final eee Value es TA Overs = Dinax Sey 2% Tex 4t= SO = met — Fv iby seh. a \peeeone TE) Percentage — ae | & sohtes (ang) Mag & a Ge 7 A overshoot = exe encenential oe ie A+042 hele Ty 8 a ime ab Yb) ale| a XN 4 I FA Max Peate Wwe MPT —; Sa ak pa ervetsioo E MRT = V(b) + overshoot _~ ert FA number oF cycle in second hm SF THAY at Tees ere Yer T-5%3 n= On VIERS 8 . ‘a Zu, ves i ar BW WS Wy = w_dirgt . : Wor Wy 3 Aameed Seequency | ty, 8 Makaral unidamPed Gregrenct, BH SeostgQuist oer System a4 whete Ya) = A Re). —| gts Yes Res) & Fide Gl pole Bi ger) — [B| Define TRESSK Zl VY tine constr) BV ¥, MMA y [A 4, Al prob 4b Solution SS oe ieee ae = ek h es ot Red Stdo my Ose Os Pele —e Sey [8==5} YS otbas., HH Plocedute 50a ae On - a a Res) Re i Wines a2 order uy (Fro a0 5-9 we NSU) PE @® if Hl Asa Yeo = AL =e ie + $3 wie a> Soe 8 Coverdamped ) £ Pal tial Sractien oo 6 Bi tat nal GU Erne et ots C pol FB) pad ben ag DAY starry la aad Mex SP ‘a gas Cori biel) ro. ba ete. Parbial Sraction oan Seis: .°— = e & <4 game i yay Pad ® Complex Conjueate) P= Comples Gabe pia op all g Roles F qort=t Beit f hy Alo =" 6 Sin furs? b+ ( nde clamped ) ie Wret+ 9) SSR ee TR B= cos'B Sealer WN Qssaae e Btu Soe seo (ress 7 his2 = ge Most Soe s We Ge a as P= Ewa! @2% 6% s Mee Z ons _ + 0.02 : toes Ayd JOSS Yoos VS Ade DONG sey be tenor p> Ve) Eoo.gs iSy CLD Che. 4. Bovershoh 2 C ie 7% anv shee toga [R= +| 2 . het eny dire* — TY A step inga —5 overdnec = © [ao = 3-4 aoe Ee cS @rr Kore ee gerade Wert = 10 ©| = 5 + | (Se? Gwen ¥_ + 36 |—| sara) Yas = End Ete Be Boh? B 4c) iMer Rercentrge overshoot grax Qealt time A ‘Ye [3] aa A\ Bo (Xo) Sss At ess fea i &3\ i 2% [ZA number oh cycles 1m Aitecete (1,-2%) [EB] Flee Ye Solu Fen See 3b/8(t43) ee ARs Vis resTaee a Resp S084} S438 0S 2 fz = a ASU ees ~ heoae ol " 3-15 £523 Le ave? q g Magee ac) Baste © Ws 36 eye 6 ae | a Bs ete —e | Q2v, = 3 ipa se —" : Mig 2 *¢ = 2 ee One Ise a Mal has $2» out \ a se Co Oa, ieee sh + wei ae ae 4.54 Yep = 4- doze Sin [8-826 + 1.37]cs WW mee Pf ‘ee. + h00%, or l Sa? ie R.0 =[mer - vr) | * }00%, (HH = = 100% dics he ioe aaa 2 Cer eaters sea BoP ae Ola eceeel| apes My ft =3> = Beto (2 ae ng ae a eee A semx v = 2.6F second 0 H oF ctl in Lee. ae Mer TBF ns 246 Ceicles° nd Wn Vemerte EfGect PZ and to 1 S9Skem (Es Ronse (ij if (O For dierent values of a and Wr Consent 9. gs ad then, Pot Ye TeY oe bab HT [[les shee] Serer ee ela! me sgl : Bi S860 aT Bi gat ol pee ay oe Wp ra overshek | > Ove/Sheok 2 OsWy Te TR Low 3 —e High fercenbaye cvershot Yor AwWRerent values of Wy and constant B Jor constan a bab 2, > Yn woe DS Ur no. of egele in 4 Seconk = BB High ty, —e High number of cycle High wn, — bw Ta ond Ty54 Effect of « Third Cole and, a, Zero : on the Second, oder Basten restense a a % To Determine domtnank gees Bykawa] wes bol under domed at eee ae an x ° x and iwsig mAWeant goles ‘ eeu, 2-K io Same ecmb cert env = owe ovamgedBD 18 we have a thred order Rasen [3 eles] Yo) San ae cen RW ("+ 22 win S tq) (St) — a other Peles ate —e 8, = Ba, + SoyJE-Z* rs < es 4 Pesta! Yeal Pt Gmagimary RACE Wace ontvwne C aac? od 2 SCE ie Rc ae ~24n f li x ener Secad otter, TF J) eg phous © son oe atrial ("42 +s e atin (97423 0, S+4") Cb) [Sed ABid9e O (sb) Este. ea) Sa | “Then efor = Bere Niineb Saiie: won Weve efor tn apprerimakion{sj oe ; EE Appetrinate The Troster Surabion be 2" ccdec | Th. see [stoVL tos 5e] and Find Dy EBB, Reteenbage overshuck gout ee Ey ma, = 3 a ae 545 oe ( es ae AEP ton, 2 AOPIS?+ 408 450] __.., gt+408 +50 Seo #5o = S42 Bay $+ en” | pipelines OS eae, Slee | , pieey = dat op Wye (ee -14° Ls ee 2 \Bo % Petcenbage cvershecl = Loo Exe = | Ne oe See awo Effect oY 4 Beto on the Second other System (G Pes Gores. ‘|| YS) ig we (8x4) Res) 9d 2 eo ste 2 Zon S +n a 2" atder Poles ave—e SB, , = Bey + Jn Vi=3e > Saal podbot) Bere ab “+e S= 4 1% a > Wau Ae then ddetnaican Sa gero (8+) a -ss-o —- ©) ‘5 A 0.6 an o-5 “te aa 14% é H% hom = Percentage overshoot S Ke! Fa a Sele vod Bon x ds 5 pe, ho. SH IES Zen Yo can negrect 2h dah 3g Zee - wou carl neglect (El S— = 0.5 + 0 = 25% o%n ten a GetoIn @tevious Trarsber Sanetion O74 we can nealect Zee E> 2 Rr + Dot, 8 pee Sif ne where US +8) atten. et aN grad ben S* Oe So —~» (a) ce SP ee Tee 625 fs eo e_ we Weve Zee [Sess HOSP wee] eMedia Beyo @b—- = -2.5 Gusset —- 5 - -s Fh) gba osSLal) plas Ly S, = 76-25 . ee a ee ca dor . "43 a . Gl ® eu Soe cath neglect af a the Zeve aes 43 Te aPttoximabe bo, DF other—. nested inargnt can & ue 1o Es +ersleg Cer] TOF 2 ReeeS al 5 takes 205 rates aenpce/® iors is", ons) A Yue Vo Find 2, Wn ss co Gre 6 L425 = S230 Sea =, aes a. 25 228. 0.33 —» 2.0.6 2%,eb he S-Plane Rook lecabren Gigl and The ~Wonsient Response ) Die eee ea Time Cesponse =5 com fesed. oy A Steady State % Exgonential Tetms “once, ons 2 a os. Term Rew -@E Hiei vel Zhe +Bre ‘Ta fuye + ate aan Damred Sin ugeidal Verm Meady ¢, ‘a For Stability SYstem E> The Cea eatts & the goles must be in the LHS EC -ve sign] LefE Hood Sra LHS RAS oe x Teieet me Xi = ae x nel posette | TSebre| —- F sy seme sein Ch x aa) ov ren) eee x x a Vtbudk z qrosensing one ae es Graph pal Sys bems afe Uns lable ———oT We. Reuth- Hurwitz Sbability Crt berian (B RHC De = ee eae Le RHC ~~ tbo deterniine Ree sastem 1s Sbable or Onstable we have a uny be know 1% system Is anstable --- eel h qi = AS +4, 8 ae oe, © oe W any cooWficient is Zeve—e Sastem Is Unstable o> gt = 56h 241 Ae 77S nek Sound Then Syctem ig Unshble Cw ~ ea CHECK PY | ef NORDER vate HE Lillia order ; ieee p+ %y @ mT af = an Cystem 1s, Marainctls a —> Sagsbem is Unstable an Fay > 4a, © ay —> Sastem WKeStable | Bl Tash ag oe oy ges = Se BS 4LES+5 | Ae ae oe 4* 5, —e Sastem is Stablex RHC Procedure | oe 4 affange the coefficients oF es inte an ayVay of 2 fous Aayieo Zz Find the entyies In the seigtes Syl aa. st S number o& changes tn sign at 4 column ave equal te number of vooks in RHS a 4 2 ew yee 48428 44S -85 -28+ 1 ae 3 * = 5 -b2 hy aan 1 ont iaeeian.\7 ee BAZ 7453 \ Zz ’ ces bed -bF2 4 = i A Som 1% —e -4.53 2 Opi) Gi Cecines 1 & Scom -0.264--' 1 se TEBoe so we hve 2 poles oF § Peles (27 tn RHS 4 he Se System is unstable OS Ed ie Wa KE) Cases o+ RHC Oe ee t case #4 0 element in the 4° column TS Zere She Geos Bs eps | the Zi 0S) a nie changes in Stan —2 Sustem is Stable ENE Sh-f Dely Bee fee eee ae ' a by = oO Bp ceo tie oy e i Tso changes in Stqn ee Se Ji Zoe 2% Zs D Poles oF 3 goles ty RUC hex Systems Dnskabtet “ Case #2 One Zefo in t Column ww pat nok all elements tn this vow ate Zero ex = 8 age ao gis = re 20% LE 4S 4 Ads $18 Se Gem Om Sofa de ds Sle, ere = 2b 428;\, oS Vie a ag a e Se ys RAN 6 5 Mle yegs OE = WE = 10 Gs fo. 0 dy= Two Channes tn Stan —e 712 d= ye te Pa) e = © 3 e = 47e2-de*e,Case #4° We havetvew with Full devo 24) exe 4s) = Ge 28+ cas Fe,’ cape) = 8K tmdbe > © ® ae —» For Shable WS ke 8 ch, 5 Ts sdgten Stable oc mot © Haier geet) oa > | ae ; o— besy Wey o— Yow Fi Zeos 8 %.=0 % we have 2 Poles Ueay a ° b= Bi ato How be Find Peles in Case HS | | +4 se as \Sve= = 23| Z be Fed 3 pole Gen |” metas +29 AO gt Su cones oe Sp=72 or 3 448 -2) aye geri o is eo Bevo Soa es eeeCase Hh wtehewetetd—eilh cas ——— WE hel Woke Cnn verroTm S10 teks qo = 8829 Phas an \po wee eS Zens MO) del cel rol ak Loe (ae ) 0 ey ie fe 89 fo al! 4 Usd 2 Geo Ss 1 Sa 2 2 eee t 4 (SDD “a S., b aes =f A bo Find SP Poly systemig Onskeble Bt Re ny berget] she she tse 4S! 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