CONTROL SYSTEMS

Prepared
By

B.MAHESH BABU
ASSISTANT PROFESSOR
DEPTARMENT OF EEE
GUDLAVALLERU ENGINEERING COLLEGE

SYLLABUS
In this course it is aimed to introduce to the students the basics principles and applications of Control Systems in
everyday life. The basic concepts of block diagram reduction techniques, Signal flow Graph techniques, the basics
of time domain analysis, solutions to time invariant systems and also deals with the different basic aspects of
stability analysis of systems in frequency and time domains.
UNIT- I Introduction
Concepts of Control Systems Open Loop & Closed Loop control systems and their differences, Different examples
of control systems, Classification of control systems. Feedback characteristics, Effects of feedback, Mathematical
models differential equations, Impulse response and Transfer functions Translational and rotational mechanical
systems.
UNIT II Transfer Function Representation
Transfer Function of DC Servo Motor AC Servo Motor Synchro Transmitter and receiver, Block Diagram
representation of systems considering electrical systems as examples, concept of Block Diagram Algebra and
tutorial problems, Representation by signal flow graph, Reduction using Masons gain formula.
UNIT III Time Response Analysis
Standard test signals, Time response of first order systems, Characteristic equation of feedback control systems,
Transient response of second order system Time domain specifications, Steady state errors and error constants,
Effects of proportional derivative, proportional integral systems
UNIT IV Stability Analysis in s-domain
Concept of stability, Routh stability criterion qualitative stability and conditional stability, Root Locus Technique
Root locus concept construction of root loci effects of adding poles and zeros to G(s) H (s) on the root loci
UNIT V Frequency Response Analysis
Introduction, Frequency domain specification Bode diagrams, Determination of frequency domain specifications
and Transfer function form Bode Diagram, Phase margin and Gain margin stability analysis from Bode plots.
UNIT VI Stability Analysis in Frequency Domain
Polar Plots, Nyquist stability analysis.
UNIT VII Classical Control Design Techniques
Compensation Techniques, Lag, Lead, Lead Lag Controller Design in frequency domain and PID Controllers.
UNIT VIII State Space Analysis of Continuous Systems
Concepts of state, state variables and state model, Derivation of state models from block diagrams, State Transition
Matrix and its Properties and solution of state equations, Diagonalization Solving the Time invariant state
equations, concept of controllability and Observability.

TEXT BOOKS:
1.

Control Systems Engineering I.J Nagrath & M.Gopal, New Age International (P) Limited, publishers, 2 nd
edition.

2.

Modern Control Engineering Katsuhiko Ogata PHI, 3rd edition, 1998.

REFERENCE BOOKS:
3.

Control Systems N.K.Sinha, New Age International (P) Limited, publishers, 3 rd edition, and 1998.

4.

Automatic Control Systems 8th edition by B.C.Kuo 2003 John wiley and sons.

5.

Control Systems Engineering. By NISE 3rd edition John wiley

6.

Modeling and control of dynamic systems Narcisco F. Macia George J.Thaler, Thomson publishers.

ADDITIONAL BOOKS:
7.
8.

Problems And Solutions Of Control Systems, A.K.Jairath

Control Systems S.Kesavan, The HI-Tech publishers.

9.

Control Systems Theory and practice, M.N.Bandyopadhyay, PHI Publications.

10. Control Systems Dr.S.Palani

11. Control Systems Engineering S.K.Bhattacharya.
.

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o I S3tr6
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FUl"d t<=ctg ta aJd snr ld-toel QlrstS'
lsa'sr
RLI:osL Porrrt- ?, , fb '4 tsad:3
go ,tto ?srib tmr eelg

rcLs
Bpq@,l Ag

*;J "ffi;;L
hsfn ee

beccnre.

ceimpftdie

pr{o* S 3p:t6r\}-a**"lac*'
rnot<rq cry\oa (6J tpb\-a

6tvca

t,c,tuilI

S<=

P-a

*ry

c{-r3T\ '[acP

org lll-(}\res ha, cc-c{d1 ooro{{

?@tsi

""*r"

rnkb

C%q/+Orl

z-?Cz)P)

@,1

CP>e)

p:

r,ls,oB po\ea

2 : Na.o$ Soraa '

:.GLC9>t-tCc)=

'

scs.tt)

l-la:rq'' P=%
Z=-Q

'

Qo'--

"s?13"

oFsn'-q=o=)

=)

!e#

4<=t*

1*

n--\ =1 @a =!q:1a" tc.t-)

n=e-)Qn = rt ]*
q, = 3 =)6<= L}I1
l

'thus Rorn ah6.p- caqff{T"po eia* &((\ aqg tLerL +(BQPQobs

o$

o.

gg:1o

e "..c-

sd)"

StSQ.tfho rrtcare6aon 6r oqgrrytotees

SUL.I oF. F3t-83

r.%=

r\O.oP t2oLEg

i"e
;.

cENTRoTD

qC9 HCs) :
.'.

o-

St_rtt

edHft

= 4

rsQol

, arp
POo* * 8,E2.*
?- Z

scs+9I,)

= c-t:*):i9
%*o

ec-

G:ds GL Far'rk'o

iagu*'t'

oF Et90s

r{o . oF aER-(z=

Co-)

o$teFlk}c

= -j-.

- -16r@

RotE
@:
.avw\.vv\

tcrr: aG{acda\E- pba e{ Sa;roa Hffir Hrrore- e:elrE c\

Pofnt crn o\ ?raGl GrlB Bry-lnk prnL.?tc,m olprrt<:. tscOclocr tcoue to"ca."
-:1 SF rL ra pfr^ rL re d[3joe Btsaok-oaiqlPoirL
+ SP rt t8 3e5ta8 tL Le e-cited oa 6rqk-- tn pornt

c.*e'rr o,e hra,e

fm &fumffrrq B{a, co elnrb- Llc-circrioe}o:rdle cc+roUort lntorrrrs

oF K ad a\otcnks dVO*=o,II.e LrccRoo:a\{ pCIhnts
basn *doxil
".rfl
ofl- .rncts: a"?( n os orrpe:t cerulg*a_ pG\e.
B
=3C3+DG+z)

aes)H(s]

rfe-ctrrscrcb,tEE-c ?qro$sfr

ra tt qcs)Fqes)=o'

3c3.t t) Cs+ a) + r =o
gs+ sg%+ %s't K = o
-'!.

{'lCIor
Nklac

K: - Css-rsshzs)

+f

dg

o =) -

6sss+

aS +

O =o

3t : - q;'q3, 3O:- l'5?

lsqbao ttexo s1,s2 hft K

,cro q&.

+eu elr *qu

&ol K ord

.c
- eccr-ra&.
As ok- toct-rs e:usLa &tnrqrr

e oqd * t Pole e;hteh c;P-

(trle<uHrs tlrn b6@k clcrgg paknt-l-tona te c-o qs) & '^ob e*t'5o'
re-gi Snhrsaalicn oP Be xd tei e-srHn Se v-nogriosE @1g ao$\ ba GGdg
oF eijnort RourHts-nuRGrTE cRITEI{c,N G6\ q tadOcirg
",go
o$rl ql-b-R rnGgr\cr11 PorkB \o S?no Lc kncl 'bs" artl GvGn alQ@c.t trove-'r", qg scrkb6rhg 'o-:' e;1@l @cil p*h ts @qitiotd $5r-o'
oHobcd

s=Jo

tf

_'. G,(s)urqs;

scs+r)Cs+e)

t+GLcs)HCS)

By aoort{s
sj
E*
<rl

K>O
A(S)

:s =) gs+3s%+ts+t(:6

Hore.lne e&zERK}N

87 sEgTrr(}oNQ B=Jc.)

l%
3K

s3+ ssz+ zs +K

Go)s+ s Cfe"ft+ z{_\c,c) rKao

{e^:s-so:t+2d*4'K =O

6!
3
K

4 6-K>o =) K>6

i 3sa+x o.:hen t< =6

ssfu 6'-o

s: +i.Gl

:o

Rac{ po,,&
K

-sei*:o

1{ :343 2'
PcrL 6 = .f*

-'. K=(

SnrrreiffolE P:rL
P,e,c*o]=o
cl%= g,
e,t {T,

"

HX9,

SP

*c- w.r

crre-l-oa

\coP

t=1.* a!.d Se^als eLr@- op ccrrrrph:c

debven-tre ftnq|e. q? dcpe^krc_

en rtu'glo d n?:lst\l<:( ChE cs-rrr$or sa5l'

ffc mrlfo o? netsbetsa op tl"-tcr1:-loeue

CF6

AI\13U

eo

fusna o'' con''pb:c Pdo"c

TL
I

t*te.

cf oepcsfrsre oq rtstnlol &a,ret ocquass

'

ctC$ReS)

Cs+?)

Cs%+

Fd@a)

ses+t)Cs+?,)

l^hna so corr1ccx-Neds

tlcn

.r-Gtu?p-

sz-

(>3+%,

3:O z-%,-stsQ
Cs,.ECer.tytg s = -:+',4 os

@rr*IP"b

,. 0a = rc * C4 r *62+6s) + Co)
t(a=)
P* = Tosf
= 6B0

dg'

rc'ritCq) = +6"
:.6a= red.-Cre"i+loc{"+qo)

ihus tUo

."rqj

co'rnpb-z-

- *11
pob dapcrkres oloc1 o<g[o- cF -tt-tto brn Erck

FDmE Lo cc.

PRoBLE6 @

:-A cn1lq R"GdbGek eon53

\ Cgdc.m lps

6.'n

o'*.r1cop r'r

GCs)=
scs%+ qs

ts)

ttrars oa tfc- u*tuc-.p

Rs-rn o Lo ce.Rlrc h.d U.o
".]r.q.F"
r.lrlgs & u Gqd ko Fc+,anql 6566ph
u^G-rcd- toa-l as88c8 }}c-jc^: orla?

Dtr}o: *re-xcet

so[r

GP-n t

.p pcrk* Cp) = s
@ea ct'te'. S : s,-%tlJg

opr.l

t"p so:roa c-?)=o

t\o,4 6@L Loegs ( N)= p S

=
Tr@-

@ntco.d

urc qqjm@tcs rs

E + c-e.+:slc-e--:tr)1* LoJ =-*: - t.33

3 -O

9t

f@-or$h-d aryrnpt:b

*r%q,+DTT

Dn

Czq,'+

3-o

P.-t,

cchcrr %=o => O,(= rq

?=r +@.. =*ryi:rrT \

C?-q,+

.*--F

\)Tf

cs.'e(\cd

hd*

+Q^=!*+=yd)
e,r: +*",,.= tT =**.
n=s.

-E kntr^:

Gkxjrtlo*oxdcnoe_op &g>kae{3g
l+ G(s)l-lCS)
s3+

qs'+

lnrt

r<3 +

K=o

: - 1s3+rtea+tss)
dx
+K = - Cgg%+eg.t lt
K

._

&s

cDl'os1

tu
To kr"'occ tbe-

Nka

sr rgr-osr.@ zse+lloaGd

aseo.l<

ptnh

cB

ocag

PorRt_crct8k,

tnksrzecEsn on SrruogArosE crcol'l

ttst+ts3 t t(

sa+

=o )sst+83+ l3=o
3r ,9a: - t'33 tjJqE
1.rt ttrer,r- l-s\P- GTs@Ejd
n

=@

=jet '' L+
1<--:6
q^) =+ u (c.r) tSC{c:)+

PL\L

acf- qco*+ lsial + t(=-@

K- qece:o lscr - c'f= o
F{-

taar%

co%= t3
e-: :JtT

K z-b9",

Ga operr l-""p

p"h"

o5p_

.omphje- kl,vroh.we- o-ri

lT\n

*r{oeB

bG

Frrd da l'e

Krca

#a -- tao - Cd r + da")
.- te.'-['go -raYin$))+ qoI

6<'st

.E

= tao"- Ctzs.A"+9d)
- -33,1o o,r- SpG.So"
thc- eok- r.rc-t ordn o,tt
$nqsch$rb rn eTlose k ha
$t\PrLoFan Locp T.F rs Drs:.a_rn
skra.bE obkJh-A b onsku:hon
Thc,\8

K=6--- Q*

-t
,tr

'CRtcrtrc/s
'F
DRFCJ ON

qRAR{

\z-

r_J=

xu-\@

"

t(5<r

sF+trEi*

PFoBrH @

r-Sc cfgn L@p r.r

Dsoca tbc- rcab Loacrs Coh

o[-

o cot.rftisd q*darrt aSH(D:

omd aolculola &c-

vctrue_ op

t1d@$n bqesrrex osdlt:q?

p!". Ib.oP pdos cp) = e

fke poloa ?P ;3 = ?,- 4,

r\b.cP 3ero8 C-t)

'-a

No"oP RacL

et'r)

Lca-,

Il^c- corrkrs3\d Co-n)

rr.a

nqrrm

--

P=

e k*s o"l.tch the

-f'tjr's

Co+c-q)+ (*L+J3's) + C-L-f33)-

q-o

t
= t!5'*')n
=
p-z

crhcs\ q, --6 =)

ry*a

6<:tg = q5"

-l

1,:-t =)d.t=i+*-1s5o I

n=e- =>4<:tt=495o \
1.3 =)6<, L73- =3r5o )
1 =q =) 4< = ! 7S =c6l5" = c,t5'

lFc- t"nbnaednon pcacrtLor"t arnqgcnoryl of\,s

C$t.r't+s+

r-

rOtt<- =o

sq+ ef +stga+ @3 + H-e@

puhfu6e) :
st61c'1l+ eoQo5t l<:o

C*)q* "a-)"*
ctrq

- 3 ec>1

=t

oro+ (o-!cl t

,31-sto.*+ K =o

j.K:r80

To aabcrrob

I
I

G.cD

1{

:O

tctl='

-"e':es"?
I
I
be exr.erar,re op B,tokaaqlpotrL

(=

-asct+Bg3+3tg2+eo9

ds =o =) - Cqslt 2!tt.L-+625+5o) -'o

c{s

t'tg3+zqgz+ 623+&

zo

i.B=-2.,-9.!_\t.8+
so iB ere prF- 3=-?,.,-%tjl.s+ ore_
L xoal uc[ue
fft
oF R- crd eo tbanKl orG=
bmof careE p6HtB.
I'lCIc'o

Lbc_-a1g[e- oF DcposLLuee-l

da= r8o-491+gz+0s)

: rec'-Oef+qou+sQ9
=

-9oo

scs+q)Cg%+qs+lD

tr.

ocrQe C$oo

gcsr

(o)

= -9.

r.&?
I

ts1 & 62" t

Bzr@[<

R-qJ

pc*vd*

dr

-t

6r = reo*Tqnl ()

-t.a+

$u-ranflC#)

z-

"

dr, = qo'.

-3

,Ngg!- 0kzl;ex \s:oi: Loclls

pbL_ c><3e.,e* tfa
nzurn$cbA,SL jc-eb bka
lba c":qg aau*] t+G_
oqn",bLca eCre>lg K ->cr .
PR3BttrN) F A doek dk3qtscqn
aBo-ucr\E-r kGdbGck co,-ksd
@
qj8bnn ts aB pdloc:a:
scsr r)cs+ c)

tux Hrt8 qj8bsrt, ekctah t}a &ct-Locr-ra. f{:o ddlerarntfq tke wlt-ro
CXGG$
oF x zo Urot Ue dccrrpf$g ascso'?'2 cP o.PdtseF corr"gbx-

L*p tras

,,a

o,b

PRorun @l-'lF',e- UooI<

dlcqr*rt oP o- usdg

redUUcx @rtrc\ q1&crn er

&- Loor-ra ks thc- oboLp- =.Ftcr@ld :nhp\*(b{"n

PRtrlfl@ r*D2soo Urc_ xd Loers aj"ff. Lt r:a:qs Rsrn o b ee- Pars th@.
Drooc tka-

bltcc;rsrg cro.lrq

gceClco-a<

(I)

a)

aR+e,g

t5

OtD

G(CS)L{CS):

G.e)rlcs);

ttcs

coftiiC P-qdcsns I
(i)

e'uCgH)=

[u) dt(9ts\(s)

ffic"irOcg'tsO
K
scs+ s)

2-

scs+r)es +s)

(v) o-(s)t-rcs)=

,,K

&t)
-

s%Cstq)

fu,D CTCOH(s)

t'tCS+

.g*

(x)

eocs) HCs)

Cs+

t)
ct)

gcs+s) Csz+2.e+z)

(vttD

s(s+ Da
(c3+q)

ecs)r+cs):

(x) qcs)ues)

*.

ffiit)
t<Cs+

scs-

11

"

6$+us +tO

"

,fr

tbLF
KrSrySDDlNen
\"-!,\,^+
ffa d^qt:{

r&

rrcL

LCcr:-

AND ?Erac)S Tc\ C'tC$HCS) e{\ TprE reci-r

porl?asrnarftre epergot:orus op

a c-lr*--j lrq,

gg&drft

2:

GDe

q r'rciselg a.{u:prrE eo g*n pc:rffn@}cr C:.e O.

sll

bhc-ak&

orr.

tho ,,=dLghetrs

oP

Gt'e
Pdos otcdleitsa'cs

Gdtbn d

o$.d 3a:o8 cFo- A^&'o\\oV

eorr-ponecrhof UnoL.-:ftt re$opo B^c_-xdl tsaus bo 'nccak klc. &at'asd
Poebsrnanea qptRccilio-n8.
ADDTIION of: rtLE To orcN toP TF-i
'K
----t"^\lg crnd@sbcoC, c^- co,rr rsaodrlg Cdsrrrnq.e

(s+

r)

M, oF polo: = t

Gr-Cslt+Cs)

C_s=

nfo.oB

cr\

|=r

GCs)tlC9 =

(s+r)Cs+r)
,-6-

- t)

f@5{o\: o
no oF r+1Emdahs?

$o

No"oFpote,s Cp).

r (s

r\to.og Saros

@):a

t\o ,oF RocL

tocuS(\)

nke.sg p3aL_tcruA J

a '2"

P^= t("q'*Dn

SF qr.

-r,-z) tlo.O? Folas

No 'oF 3uto8

s 5 0< =trl
% . t =) d< --Jsii., n

SF qr=

@@
eP) =: Cs: -1,-2,-3)
Ce)

zo

No.oF Root LoeusCtq)

= x,

+4 --

Czq"+,)It

:s

t ggJq'!

j>d,,"
. , +L
t g\
=)Q4'^ - 3
g,.1 =)+4= t-Tt I

S[ qrro
tr.,
=) d<

=t!-o t

}5fl

--^a, =- o2- -_rJ-n-rtu+J

=) Q< A:
g --: =)0<=!+r:ig

9=r =>d4,"TJ

(s+ r) Cs +z)Cs+s)
<-

n '-z- D d<= r 5+ "fl,_

-- z d:l -z) - (o)

@) , -Z
d-:
ud. z
- C-t -z-s)-

a
,r

: ---t4s3+ 6stt rts + 6)

&,.r=) 3sL4 i?!+t\ =o
S="=)zs+S!o
ids s: -*!"EE
:.s = 2 =*lb i
t{aile x rs tgCI.|
-rt{ore r< "us -zt.FBx,- t.a
+ tt ta
i
K

K=-( sz+ss+9")

,2-

E?ek ocrq$ porrb i"P"a"t

oF

qrtcreeor-r

crn

tm-qi,r

,"+6ez+t1s+6+K =o

pol_ 3=1os

'

1.11:60T cr=JiT
3"tiT
2I

z-

3,rir

Thcls Rxryn

Sq ab

*T*-^-uh,B;
*Era-qj &arer*"q xcke*qp*t*6'tq ord

rspsrEQ- stoe;e{'

ire opo*e\

ffiYH-H:
-oY*,

**J*E -."-=*rq

B=,r5Q

frrakbrg

op K pors akrhre c{-qzx-r-r,ag crd

fo8kern o.ill 6eorno_rnoEe:
trr.naLrr@.
"NEILlThta egMUo- oor:rposd
th-[.oF treu\ <rnhd c*tch Tro.las
T%
.oth
the s"Fhrn tees 4<3bb bu .^ddr.nc o. cole- qu t#, rrxlcrrn

ftratlg

*-ADDff,o$I

cF ff{c}

6r(s).1cs)--

KCg.t6)

Gcs)Flcs)

-cs+

e+rYs{Ogrs
-

l)cs+o6+s)

ct(9t4Cs

6 (s* tr)

---r,-2,-

pob* q6

"s

(s

z -1, -2,

-i)

\lo. o! 3ano8Ce)=r Cs " -i 3aaeC4: I Cs'-k)

tl,c"eP rd tocl461
Nt: .o& rcol. Loo] Ctrl) = 3
="

tl^-lrt"L
ia oa ht\oe* l

oo^ralggtr

a .

Yrrr-

t(zq,+Drri

t(zq,+or
'L

3_l

*t

SBX=o => +<= u g,= I =) dn. t=JJ

1t-_z

(cqncs)

cs+DotDets)

@aSS

)s*.t'{dT

!crttDT

pdas(p) =3 Cs: - r r -L,- g

I'

iSerteael=

rc*,

,rrlo,oF

(3: - r's)
tsdCN) =s

f d*= !j-""r)g

9d<.I4
I
?= ){,a: lqj
t.z=)d<=*g
g=6

t'2

lltl

=.

G+t)Cstr)Cs+s)

'i

pobsCe)=3G

Forn Lbo qboue

,.-

epEN rcaF T.F

SF %.o=D 6*

otr-l

=r =) 6".. r=XJ
qr.z_ =)d<=

Q,

tg

o; = 9r-12-s2=1.
3*l

K. - (s3*6su+trs+6)

Kr *Csts*6sz+rs+6), x = -cs3+asz+rrs+6)

*-_")s=

**.>s =-t.e i S=.:)3:-e--JaE

3-2,3

-ztj6E
'*,-t.B

'IrK-\*

Rs* tta obst,. hrd dtu eJrh

ethmd q odJhrg o.
sctt3 ofr ch9Parsrfr UeoUcrrr o-n sccL Ltrl qt opc-\raap trscefuL n"*U-" f"u
ba egPa"L- oF ahrffrrg the d tcaus b sq te?L op grnqqhrory. cad.8/ttprehg
doreoxrq tho *ritlrrg tkrnq errro.r<rg ,esponse F-dsn] + t,gos(E dob,E.
+lorta rt-e eutbnU tkct hrclarxlry\ eB
5uo yrtekety.s Ajdar,a sbga bx o\\
tulo,q oB r"r'e- *:f-cP vafulqoF K Ea6 tchtrU-$rrqeeose.a.Tfu-re pry-c"&
%skeqn
o

besrros

lsTE i'.IFrtg alke

tLro

e,rerrq

\p_sg eredbfag.

r,!g

fl&rn

Sa oornpoad

kaU

wd
%#

BraL oF dcntrmue- crnhsl eohoctr-rrqkot

*d&.q asano rrr tlo kC pqc.ord

txocr.reRli Rxr_rebon,

** corirc^epT oF pr/pD +FrrD

o,crtkt

lrreLr.ffi"3 e;)t'il-l Fe[Eg 4 E.cRosr-

tt

41

He')

'l

ta

cFIcoLqP eorfl'tsltbfl t,= PootscubnlE eftrrchtd Q:l^at.r rE

pGkh * tasr=ru:r- k1rxrhcrn ,'- *=*dd b$ant'
pbcad b,1 Foad
l=l@tts

trrcu

@ PL ANTBOU.EA
:srv++v,#

i-

oce krrctr

EkDL-,
Ecr-cs)

=ft<p+

EqCS)
ECS)

$flee9

Kps+ Rg

:t=:p-a 6

S -

*ry

so psrn *^c, obers qllotisn ptoctrrg Pr ccrnhs=llcn

* g
Ucrrc-On*4cd:ob
oo\ pole oL,aEqhA C1.@- Du:o ) s=e) drcl =E:xc
.=o
3 =-l{rr
Cr.e frtg:ca $ s+ 5l
iA)'
=)
t<P
po
@
:@

eoNTr{ot-r ER -:

cia-- l<rccr HroL,

E-qe)

@
a(s)

Lrp + r<e$ ecs)

';
=

:, ;-:'

to1"n
3p+trosl =

S1 -'@

orte>\tsi
so p**;cbsue oryrcUon gkrtrr3
-1{ ' *e.'
:o
+!3
*==_.Il;
s
Ko
Kp
oddtro or @G oL bsfle- ccrrrsberL K9 al.g 6p5=o )
pD

'rrcro.rrs

'

-JJ

e W:-

e^:e_krco-c L|CIt,

Eacs> =
Eo,6)

ecs)

fl<p+

:f

+RDs]Ecs)

k6 3%+ Kp3'tKq
e

-a=

r<p

fsq+ffo"*S ,+@
5

rrnGora
so ?tgrn sra- c>bsp- cElgouon phdinq Pro cgrfl=dbt
oLo hrna
oddrrq o. po\.- oL czNrqin o.e Db:o =)s=O -rd tc,os"'os
+bL
<cin-akrrr^b eryrGhrlq Nr:o '".e g2+5Ls
t<tp
Ke =e,

8\s\
eF

er csrd

Rsc-rn

tla tr"-iato

6n@Pk

Pr-lD

t8

a ornbmoLl5n

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13

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18 o'.

tsTa Rex rrrefla= Pzact8a d<etelt B@leo bs eo'

Lca[<c- Pxcqle.nete8 mbplm,@t

qff31&bsg GnQ. f-!)en

\z

rrL oll ecsrcrr @yenetea

t3.qo^>)

ssfire-

4 cRDER-t sysrEflg

1-

^!A.-1,\--#

lrab

Lle r,F ,&cs) = :5

trrL s=ler =) e.qeo = #
.'. lGeteo)l Le.StcO

= !cJ-r-qo'

Nooo \oryjhT3 e, )
eo
U

0J

=O =)

ACfe.") =

t\t#

:@ =)

&Qe"r) =

mtd = olgs'

= ecEld

tlCIar

o,

Bte

pok-$\

d&

e;=o.[acbgo'

(ii)TYPL* % + oiRDER-% sysTErl :I

ol

tkrq

A F., C"rG) -_

txtk s=ao-a

Gcrec)

L
= (JeA)?"

.'. lcec.r)l
Ncto^l

trosutrro
{J

c
tbre

= fo, ffe"

eo:

cr

tf\beD

Lc,.c1cs)

=6 =) aeec) = HIS =

ecLlgrr'

@b!-sd

:kr"dond pohn pbb ra crg R:tbnaa :

furdond
La

a8

Rstboag:

(lDrype.*3 + oRDtrR-3 sysrcrl i-

lpL *tp f F,GCs) . +

9)

pc& s

=1e^r

.'.

= J_-,

=) eeeo)

coof

lG<jar)ll-4lreo)

Nbor vcql,tre or
G^r:61

J= fuo"

=) c,<jea) = RLd

"t

o, --oo- =) cdGcc) = Mld

rtco tke gomdolcl

(u) i'yPE-q +

q#R*e

LLtLp_

5zlo"

cC_

zo

LZSO'.

6:ohn_plot ra sl.l:<l5r1 oerde_l

sys@t r-

= {,

?.F , &eg

pt

s =Jeo

-;

qq"-r)
2 '=

-l0oo)q

.-?-qo'

-'' tage^>lltslgurD =
lbe^:

r,tugbrq

c,c:

er:o =) C{ec$ '

^V

c,r:ec,

.+Rrnc

B\crL

:E)

rtt@

[!((}o

= oC

ctq.D " HtO = 6

l:!S".

-go'

q*

or

frffie

;t* I==qf

i? o.ra_ g: lats kr@snsrL,rn

Qre_oq.d e*n Lta ffiiqe8
a**t.-aq_k",so ep'* ccrn 8.g &..L hc-glcfr cr rbgynklcloffic

5\c#eGb crFb:r-

(r/) T'/PE * 1

?.oct>t

l.yreaqrw-r{a fn klpe-

oRDeR-t fkrrrgolcx

/\-"!.\N\^\p\,1^^\^/-\4,^

a\ tn ctsi@Jt.

3c-dsns :-

oahn-Krfr11ol

^,<r-^-

,d

LoL hkq 'r.F , o.Cs) = g

[2-rtL. S=fe-:

=) Aee^r) = JeJ

:. lQgor)t l$(co = a.> LSLo'.

t\oar ranqkrca ec :
e^r:o =) AQor) = ttl$

(99'
r9o1

=Rld: oe
(vt) TvPE -% 4
oRDEa*% Nwr@tro.-bx potgrrcmtat sq{cr,nt-

I -*='

GecJD

%%&

Lrrir ttc_ -r.F,d-Ce)

=SL + put

:" [agcc) t LOcae;)

g =JqJ

6;%6gt3o

f.tm^: \rctngrrrca c.) r

&)

:O =) &CJco) = H !6 t O U.-ACP

*r=*

=)

c,a(ler)=go))?-

c".Qor)= r't t-+

u#

oo

yug3P:J{ry.ffi

ND -:33.s_ 3 gPES-1
tgb U[-a- r"E, G.(s) = 95

fXA

t4

@G

:-\ac =)

C.q1cr) =

-"

r{Oad

ucugfq

LeJ)-'

lQgc'o)1tgcf", = e'f, Vtaa

e,l

Cn:-s =)ct(1o) =t4LS = OL43O*'

U

cr: ce =) G-Qoc) = t'1td '- @UK7'

q frlctrrcno.bx potcnrorru\ &rekefnt--_,\__"_
_-t: J:^:.---_r\:;

fuiu1.t}*-k + onoeg._
.,r-----r"*q
lo+ Ua T.F , ca_cs) z ss{
g"rL S:jcr:

qd

=-) Gr-ec;)

- ecc)q

taqsrlla$cr)
frlcrH 66rg1t-q s..
.'.

'

rrpE-o

.11*s&an

69:o =) 6iq33) =ttt$ z G L5@o

*.*
Qx)

s@"
= G)Q I

*a.qoc) =r'tt'd= @-ll-roq'

.+ 6RDsR-t sysrEry 1:

Lc,L

tha f'F, acs) '- *)-

e;hcna N--o +

n=l

(sP' + t)

s=1er =) G-ge.)=

PrL

tG-,)

j. 1a.c{er)ttoci*rf
\L1sglg

t.bcc

eal-

-)-TG

LIeyircs$)

eirrz

ea:

epro:)
nrLt

--

c?t(tc$ =

ttts =llg'

ec=-) c.ql:;) = FtCd e 6 [$Oo

w ry?tr--0 & @DER-g s/s.j=EN:.

tob

Lhc- T.Fr6cs)

e,CrcJ@-

flL-

O+setl6tsPD
S=-!e.r

=)

cneerD

r1=%

-_

Ct

-'- laal&r)l tOqoO

N=o I

t1e.cq)Cr+1og*)

l*aa'cro-t"t'e"r,)
>

t t+ 6p9rJr+@&)Flca.s

\rolgtrrB

@,r:

o,3l\ =) o-rje;D= r{10 rtp'

=
t,
*=* =) G.C1qp) = M t+ . o l=.]86o

(x)rypz-6e',JIxDgq-$ gysrE
:-^_ -,
H
Lr,t bke T.F, (gry

l-

Cr+sq141ast?)Cr+eq)

cohanc. N -:.O + rr as

prL S:3l

5-

;>Clqan)
Cr

r)

+re,c

O +1oPr-) 0 +le,:O

(aa) -rmi'Gt'pJ
rcnsrt @op,l -To,'ri'
. ltl.Qe$l tGgel) z l'-

"'

-zto

l*atPJ"q;ilr# f[ete)"
Ncro rrnsgpq e;1

eo:oDC{rqegzHLSzrld

l;,..
CXIU

T)Pe-o 4 oRDeR-q gy3'Gll

tr:E gp--r"F,Clucs)

C-r

6t-S1e;

l
+s

z-) caqa'3g

tacr-.)

t60or) =

-ati''c'pD -reor'

l--+

trboa uo,-rgltrrg ec

Lo

+s?3)

) & +-IcoPJ

+jccR

J r + 1@f

eo

Cl

Cl +sPor)

&qt=_Lt

-t
.

crhcfi@ N=o

(t+ sPd

PD

Cr

-,

ll-u""

._

Gclc;) = MLS =
"

=-)

r--

J,

O'tle"srr) o

rae eA

tjoPq)

--*d@) :@!-nD..

*gJr"l'Ilo6"

[-e,

5.flBr) :Hlg= 1tf

t,

eJ"c,c-:) cn-$o) = flt$ = o@

'fhus lB o,ie_ r.ncxornecLtk@_oxJon

cas

egn:b*L tkq

UaFx&_oro"

c*o Gnd

bg sr@_.prle{e_ t<@ptrB

xeflrokz,.h.' sorr@-cs.ocL-

0(11D

LetthqT.F,aes)= t _ e$sre- N=trn=g.

eu+ oP)
puL s=1eoz)Ga1ec)

. I
Oao)

-.
Cr+larp)

-z(oo

r. lcqcol LcaG, = --J__-.'-l_qo"-6oi,@n)

[E e.por

Nocr vcurgFng oc..

c"}:o =) c{es = flLQ = oc- Egco:

t,

(x\D

Y$^- r

trcltr

0,r"(P:9agor). Nt$
oRDE{a._s .sysrer.t

j'

=)

ca.c1c,e)

e!*ere. N=l

laqcrll-(rt-(e;)

.ooo uqngtng
crl=cl

{/

jo.t Ct+JoPDCr+lepeD

*@Jl+@uE

*,,

:)

cx>:d-

oJ eO

,_

tle_ ?.F, G4s) :

s--1co

_rd

= C l:-@1

sc-t+sB)Cr+sPD

pcrt

e- L9@"'
: 6 [-!?Oo'
= n Ld

6LC1co):r(Ld =
Q(!ao)

Bg.

4-

{1:3
-?-?G"

cB

Q1V)

T/PE-

+ oRDER-r{ 9ys?EH

)-

Qolt)

r7p6-9" 4 oRDEt+s

6
Svs?Er't

1-

*z9ro"

-t80"

e\,lt) TyPE.-% + oRDER-S

.Sr/SrEM 1-

,iL#

cal-

[fCI

T, F,

C{eg

pcrb s=1eo :)

col.rele

oq*f

:. leqe.Dlt"aee,r)

+1ecQ)

W3ktg
ec

,t,

0(uttt) TyPE*g,

o"r

:3
-2!oo

r@oQ)o

!-o =) Cgao) = t {tO -

eiaoo

orr

--

6;%

$ban

=gt 4

z-

(leo)z

s% Cser+ r)

=)Qgo).

os t:!@e

F{tO *- o Lgloo'

& cRDER-cr sysrcH :-

toF tbo 'r.F,G_Cs) =

e^haFc- N= % &.naq
szCr+

FrL-_sag,s =) orgc)

sRXr +sPD

fjarlLct

+ leoP,

;.fag;)lt6go)',4

Cr't

1e^:P)

- rsc"- Ed hrPO - ro.rit6,p9

e,saf,ft6offi5il,*#

t\b^:l \rargfnq e,c:

erzo
'1'
X=co

61x)

'

ay6-a +

oRtreR

-E

3)sG+{

=-1Aq1or)

=) A(e.c)

l-

**Hl$

- @V)g

r{l$ " o l-WS'

o<x)rrpe-g. $ GRDER-6 .3YsrEH ',--

E:IFujs' km tha ohoue- g&adr.rac[ ehyrehrtrea e,E- aqc-t sqg &ot

the-

"l=rrh"g PohL cdtl be- aofi?G_ rE ryp "h*Ea hspperne m Lgpe. onJ
Bre=y'use- caqgb k s Utr-hermrrrnobn o^rtt ha\re_os1 oddlLsd log
oP -qo" {bx ew>rq} rncrsmrst to.r ench;r.g}*gg tljgl9{ b_1g8.
sPkgpe-* r.b sezo cTJp-oD s*.r u.-+"t*u@
6
cald ofoooga tk: shlxb aL emrS
fids qpe-o -1jtu'rn8l-9'

q
uxD

I3E_g ;+_gs*jY*

31fl E{.i-

sg CSPr+t)

P"t
\-zto"-TcxrftCrel

ft)a*: volgtng eol

".=;!@elf

co"cb =) A$c^r) H td
=

o t-3d

l:-??oo

.1,,

c-)Ecr3

6xlt)'ryW*3 4 eBp6g1-5

:)

614oo) =

s,l/srEryl

t'tl$

1-

LeL t}re- T.G, cL(s) :

s3ct+sPr)Cr +spz)
Pe-rb s:1e":

=) eeo;)

:
CJca)l

-'.

tcq"rl [Qcr,

e;hot=-N=s 4fl=E

[gc^re)6+P:?)

f-zto"-Toqtrooil -ro,n-)erto

dJ

$froo.uasqpng os:

rn

Oro,f ,[

q%66

-\Boo

art

"c_fO-

ot

er:Crl5 qe1ec) . 1t$ = eC L:Zlgo

Exltg

4
?ptr:s
4

ecz(,| =l ctqoJ)
G4
=H td = 6 b.3Q"ot C, h-_qqf.
*tt9q{zoeR_6 sys-rant:_
Exhr)r)/pE-S 4 oRDER-? sysrBt{F

*z#a -6*0

-'qo'
oe

' re-

-ihtra

-q:io'

krulE

Bt*d

-Qoo6l't

-sso

con sqg t}LoL &a*

ra ob
edrrbop pob^ fl&
"h"rb*q
&=-@
," qk ederr.Thus cr@*""*rgs*rrbe
o{@-

une-ccrnc*op po\or.
&h sb:hng + fe-untruklE

pornhs

os:

xqfi"'qg*
"rd"ul*
J n qteoten un"r)
Tgre--A"

Tgpo-

/ ar q1,ral to tcrp{.+
(!qra, tos6 t}uilJ

.rf*

hqpel.e
i
GnzN)
*"'*
Jt
- \'ir

preeLEH-O :- g<chph kfc- pdon

dd- B* S,@- q{*cnR o)hore- Gpoqtu taoP Tryrahr Pemehsrt r

6r({)trc9:

p!r-

thp-

tlleco oLeorvrnca

r.

gcs+r) es+q)

corG&nq SL*

o? Ugpa- r *

6gbr-s +lsttrn

e$CI8c-

fld-t* .6 fofuP':a1s\occ r.le-suqtq tltsre^re-ha\rc-

0{L4!, e't

Grcloc) =

Lqo'

qo"-focrftc"'^2-Gvt lCff)

od6

ffi-Ed'

fbo^rlrrr.ghlg o"r Bsrn o

orzG

to ee_ trrdcqg CoS!t!r\

cnEo,

Ferymeles rnb c-crredo;rcissrt e":eloup- I

o

CJ

= lG.(po)\

S z LCeJa;)

I'c,

l,b

%.o

9,'5

3.O

tt'o

o.1q9-

o-%58

o.161

o"oqg?

-red

-lqaP

&

t.q

o,1

-Qo"

- lqe"

-t6+o

pbthfia the8e crn pdsst @eh tAchrrllq

'100' 90"
Eepdoa p&- rz oa Rdhe,car

f\bcc

-lc8.g"

q,f

@.

gqoo

e-clah e-r.rdo o-rd1 troto-

161

scg-ci-s@

80"

120"

Hrrbqntlade.
3" + 1pt'o.ec-tun3b
Llu

-treo180"

Z?fi"

'

Th.t8 tho- pdo-r pbL aslnnh

shoarn M\ a- BrEb

orC teo' arEE

rg

q*p.

280"

-qoo

te o, pbt_og Mogr.fur,{e

sl.eet.

tc{/trr os o\ xeeyanco

u8 plrcse Ls

sdelU

$coteefr

oF s?pBtu(y rN F3LAR PLorS1-

rtl.n vt pelon ddB Lhe

eonee*. op +crbrlttg ra ArraLt**..l
otHn apoeLtraolson op

ddrtaln l.q G&N

kqrercrJ

r.rARerN 4-&o9 +

fi{A3e fiAe6ry6 Cpt,1

or g

),

G.A|N HARqN
Car_r) r-

op <r.r3e,rlHqao

cr.e srodtue tg

L esaeaea t|te_ rqahue- reul

prh(ykg

oxlg E

\-o

U,"e_

| ts cqlbd Lhay1 c{ald ,ffi* 'Ltoq;"

J trt

Ctct'rt

tn

oNryi1rRer.E

Lha

qg

drlerbel !atc{t?.

ft\e

k$t

_._-:

shac^*ng ogrcushrrrent

o$

pr.rt -rqo

"+rocg Gt olnkdn thag*n

ts
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raeocnrey {c^be).
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degrod cs
}(}'lP$cal o+=tk

-l&o

otRe

Ure

jrNtTy erRcr.e

ffi'

ct'o aq{og

:Tr*;;ffi'":Ttr"'
ra
o.*tlch tkta pl-roee_
dnr?L

yg.l.

xne(tr Ctl t_
rFnse HIKN@
$nse
1-

sla^trg un-areqhrrremucgpotng

kg:

It'a *c'c! tb'EFn te

&?rnecl oe tho orgb-

tt@h

e,cnlch qclc.r)r{go,$

p"*
ffiffiffi?vru**do
j* srolghcdq cia-aom
1
*@ r- skehoh
tha polor dch_ fu*

casd dctCInqmk*- ptrre

sot':'frkra'r obqe'Nrn3

nbc

gt

U.G_ cpe11.1

phL

*r,=d[ u

qertedcrke

do,, rt \tr

toop r"ts

crcg)

sct

& rss)
h4o,'gtnl
u'a-t-r corckdb.$Lrg.$
Be-r roxdor-s ftakurn orhclEa

**gkt

+ gar.n

-'. &g1ec):
Cler) Cr+Jcc)Cr+ z1o.$
=

s)

cpFtsrxtrnclpdab rs o gdbo-:sl_

s=_\c", o,ra
gEL

:. l6rQco)t

-,o"

crn Lho Lc,er,rs pos8@s

Gs

PR0BLEFt

tg

o$JEcD?-J (+rto"G

-'. LAGo) = - qclo-farflCeo) *Tot{'Coo.)

o):c'
.

to

-1o.6

M=

0.316 io.oos9

lGc:o)l

o "ocraqq

$ " lagotr
tlooo ?rscrrn gr.pn t

:.

PI"1A9F- r,{ARG{N

(prtorLt) = l8O"+ sg.=

J- ?J-= 1,666+.
3rn o'6
9n dr-rrfost emh il:
E6db
zotog
fl=
'*
n&reo Zroyr one_ ccv\ dxoor tha grld\ e\rcn cm
odrfrlJlt
-'. G\AIN rrFF.etN CGnt)

qKdft

[8oo- t-1oo= lG'

z}Gp-L,

B h*rq

- t.tq.l

crne rr\o6a cdusvmb

- 0.613
+Jo,obq

tl.re o.balakaldo

r.e

-i
I

"'__l

tu

.&.
ItJ

0"1

- raCtgo'

360"

350'

1$0"

?dt'lo

200'
JJU

0"

-qoo

Noa: Rs
$trt l'Lote orrrd duse-rrengng crne_ peerhure$o- qdarn k
ehabb ryd essrr tte-coydlHan @g..6p. soHrPras. rP cxulEhasl
olcqkrF,rm
le .rrK)& &ar a:gc_ & @PQ-"

Esrn

t'loa,)

gadn

tbffin !e-

(c+Jb)

@toq]lrhtt

Bhcel: eocn be- drsae;rn

qt"ll*tk 1 eaz(b q Md

to.l

?o$rn Be. dob cyn- GdhEqJ

Bolleau,:.

ly,..u

p,analb .;e)*-a,1:)F{lQ

=et:2reo.

t'e \b"
.

-a

_l

,l
.i
.t
i

'1

:
I

<.=="-__

PFcEt-Et.t-6 : D6car

*-

--------*-+;

tbe- Fnklt pbf- btsdrre T,F 6cs)=

Re.

tc (s 1q)

8cs+r)e +e)

t.e'f,

tut:-t'lco &8opnr tho ne ccrraAd\g lb ts af E{p-&ard osddL-.rrqgstern

crh@- oppn:crrrroto Pe ts oa ?o\\soe tNoor pcrb s=1a^.r roro qgL.
f . A\Eeo)
gac 1LC r + j c.r)

:. la qcOl

:"

LGr(Jec)

er

%Ja?)

oosfi+ ord Ji + {exr)'

- ltr"-fartter) *Tart

C2@)

o.Q,

o"5

o.8

t"o

6)-'O

&

qg.q8

g.+E6

o,6q6

o.co8

o"q+3

o.om+8 0

-%88,h'

-3R,3'

-3{g..1f , -:64"

o" r%8

o,o9.o

+ oasq

+ o,

5-O

+=
o.+lb

- ecf

,-

9,13o

:*lQ'9*
+ rx.stj

-%5t"

- a.t1\

a,a&

+t.xl

%,14u

+o.6!,

o,aw

olu +o,@a5J

to,2,

tlocc Hno pbL- r,n polol gtaPh 13' os 9dlooa8r

,j0

;il

'tlt'

['let*'@ pot

oPbrr convorhng r.nta rredorgu\on ca^edtnoLe, t, 0e+jb)Rrrn:

s*,Ul

lo

?o9

-+

Re'L"

16

I.I^\us Una

pCot

dd.

con be

'-

&@5n

orrth M td kn pdo:, $-Fh

dne*'*"..'d taUu) rn "*{rrosg/nozUrgubs, EsrS

NYCJJTST PLOT9 T-

rclfrb, Unt exw,rdcC fi"' d"k ootlh tkrPHPq

a@rt '
tl.reoeerrt" rc oydelL81ras-d frlg+r.I&pbc ore *c,cid ho$e t&na'hdgz

d*"

NqqreL

c)

PoLls

cacla-

-zfI?O @NlElGrrREItsIl-

reL

c\cs)l-tcs)-

e^:hit.a,

-t<cs*DG+aOG+31)'
c-s+ Pr)Cs+P?-)e!+Ps)(s,+P,.D . --'

B, , L"-,Bs, -- -. cra4- opafLlaoP S@toa

?,

r?rre3 - - - -- Gye ePern tccP

Ntra^r FC-c): t+ Gr(s)t{Cs)

=
FCs)

--

l+

[&s

Kcg+e)Cs+zD - -'
as+pr)qstPO --^-'

gsrg)qs1Pq_:^-. I LCs+aDLs+=)
(-s+piXs+&)

Clsuqq e,:e tqrag3

HnaL ttoz,tz af c}36J
T(3)

---

Lrop

- r. a'chcrrtaOlon$3i

qr'

s.&znr er

aes+ai)Cs+s^ --

Cs+pD(s,t

RCg

cs +fl )

Cs,+

L)

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