ระบบควบคุมเบื้องต้น (ไทย)

Control Systems
y(t) PI-Control
PID-Control
u(t)
P-Control for system type 0
PD-Control P-Control with K2, for 1st order

P-Control with K1, for 1st order

: 19 .. 2555

Control Systems

jansuchart@gmail.com suchart@rmutl.ac.th

suchart@rmutl.ac.th

1 1
1.1 1
1.2 2
1.2.1 2
1.2.2 3
1.3 6
1.3.1 6
1.3.2 6
25
2 27
2.1 27
2.1.1 27
2.1.2 32
2.2 37
2.2.1 37
2.2.2 41
51
3 53
3.1 53
3.2 57
3.3 61
3.4 66
3.5 68
73
4 75
4.1 75
4.1.1 75
4.1.2 76
4.1.3 76
4.2 78
4.2.1 78
4.2.2 78
4.2.3 85
97
5 99
5.1 99
5.1.1 99
5.1.2 100
5.2 101
5.3 103
5.4 108
5.4.1 108
5.4.2 110
5.5 111
5.6 113
5.7 121
123
6 125
6.1 125
6.1.1 125
6.1.2 126
6.2 129
6.2.1 129
6.2.2 130
6.2.3 130
6.3 132
6.3.1 132
6.3.2 137
6.4 143
144
7 145
7.1 145
7.2 150
7.2.1 151
7.2.2 151
7.3 157
7.4 159
7.5 181
7.5.1 181
7.5.2 182
7.6 183
7.7 188
7.7.1 189
7.7.2 197
7.7.3 201
205
8 207
8.1 207
8.2 208
8.2.1 210
8.2.2 211
8.2.3 215
8.2.4 221
8.3 224
8.4 228
8.5 232
235
9 237
9.1 237
9.2 238
9.3 239
9.4 249
9.5 255
9.6 259
9.7 (Gain Margin) 262
9.8 (Phase Margin) 268
271
10 273
10.1 273
10.2 273
10.3 275
10.4 276
10.4.1 276
10.4.2 289
10.4.3 297
301
303
1

1.1

..1760

2
(Classical Control Systems)

(Linear Systems) (Time-invariant Systems)
(Transfer Funtion)
(PID Controllers)
(Root Locus) (Bode Plot) (Nyquist Plot)
(Modern Control Systems)

(Linear Systems) (Time-invariant
Systems) (Non-linear Systems)
(Time-variant Systems)

(State Variable) (Optimal
Control) (Adaptive Control) (Hybrid Control)
(Artificial Neural Network) (Fuzzy Logic)
2 (Control Systems)

(Disturbance)

(Process)
(Reference or Input) (Response or Output)
1.1
(System)
(Control)
(Control Systems)

1.2
1.2
1.2
1.2.1 (Open Loop Control)

(Disturbance)
Process

Controller Plant (Response)
(Command) (Input)
1.3
1 3
1.3
(Controller) (Input)(Plant)
(Command or referent)
(Response)

1.2.2 (Closed Loop Control)

(Disturbance)
Process

Controller Plant (Response)
(Command) (Input)
Measurement
1.4
1.4
(Controller) (Referent or
Command) (Output or Response)
(Measurement or Sensor) (Input)
(System under controlled or Plant)
(Command or Reference)

(Feedback Control System) 1.5

4 (Control Systems)

(Disturbance)

+ (error) (Input)
Controller Plant or
(Command or -
Controlled
Reference) (Output or
System
Response)
Measurement
1.5

1.6
+ +

-

1.6
1.7 2

1 5
+
+
-
+

-
1.7
1.8

Speed Sensing from Tachogenerator
Computer Power
Speed Motor
Amplifier
DAC
Position
Encoder
1.8
6 (Control Systems)
1.3

(Transfer Function) (State variables)
1.3.1 (Mathematical Modeling)

(Mathematical Modeling)

1)
(s-domain) (Laplace's Transform)

2)
(System Identification)

1.3.2 (Transfer Function)

(Laplace's Transform)

1.9
input Output
Transfer Function
r(t) y(t)
input Transfer Function Output

R(s) G(s) Y(s)
1.9
1 7
1.1
G ( s) =
L [y(t )] = Y (s) (1.1)
L [r (t )] R(s)
1.1 1.10
R C
e L vL
i
1.10 1.1
1.10 v L (t )
e(t )
v L (t ) e(t )

(Kirchoff's voltage law and Kirchoff's current law:KVCL)
di (t )
Ri (t ) + vC (t ) + L = e(t ) (1.2)
dt
dvC (t )
C
dt
= i (t ) (1.3)
RI ( s ) + VC ( s ) + LsI ( s ) = E ( s ) (1.4)
CsVC ( s ) = I ( s ) (1.5)
VC ( s) 1.5 1.4
1
E ( s) = R + + sL I ( s )
sC (1.6)
8 (Control Systems)
1.6 2 I (s) E (s)

E (s)
v L (t )
vL (t ) = L
di (t ) (1.7)
dt
vL ( s ) = LsI ( s ) (1.8)
I (s) 1.8 1.6
VL ( s ) s2
G ( s) = = (1.9)
E ( s) R 1
s2 + s +
L LC
1.2
R
ei i C eo
1.11 1.2
KVCL
Ri (t ) + eo (t ) = ei (t ) (1.10)
deo (t )
i (t ) = C (1.11)
dt
1 9
RI ( s ) + E o ( s ) = Ei ( s ) (1.12)
I ( s ) = CsEo ( s )
(1.13)
I (s) 1.13 1.12

( RCs + 1) Eo ( s ) = Ei ( s ) (1.14)

G(s) =
Eo ( s )
=
1
; = RC
(1.15)
Ei ( s ) s + 1
1.3
C
ei i R eo
1.12 1.3
KVCL
ei (t ) = vc (t ) + Ri (t ) (1.16)
deo (t )
i (t ) = C (1.17)
dt
eo (t ) = Ri (t )
(1.18)
Ei ( s ) = Vc ( s ) + RI ( s ) (1.19)
I ( s ) = CsVc ( s ) (1.20)
E o ( s ) = RI ( s ) (1.21)
10 (Control Systems)
Vc (s) 1.20 1.19

RCs + 1 (1.22)
Ei ( s ) = I (s)
Cs
I (s) 1.21 1.22
E (s) s (1.23)
G(s) = o = ; = RC
Ei ( s ) s + 1
1.4
Ri
Ro
ei i eo
C
1.13 1.4
KVCL
ei (t ) = ( Ri + Ro )i (t ) + vc (t ) (1.24)
dvc (t )
i (t ) = C (1.25)
dt
eo (t ) = Roi (t ) + vc (t )
(1.26)
Ei ( s ) = ( Ri + Ro ) I ( s ) + Vc ( s ) (1.27)
I ( s ) = CsVc ( s ) (1.28)
Eo ( s ) = Ro I ( s ) + Vc ( s )
(1.29)
1.28 1.29 1.27
Eo ( s ) s + 1 Ro
G(s) =
Ei ( s )
=
( / ) s + 1
; = RoC ; =
Ri + Ro
(1.30)
1 11
1.5
Ri
ei C eo
Ro
i
1.14 1.5
KVCL
ei (t ) = vc (t ) + Ro i (t ) (1.31)
vc (t ) dv (t )
i (t ) =
Ri
+C c
dt
(1.32)
eo (t ) = Ro i (t )
(1.33)
Ei ( s ) = Vc ( s) + Ro I ( s); (1.34)
Vc ( s )
I ( s) = + CsVc ( s) (1.35)
Ri
Eo ( s ) = Ro I ( s)
(1.36)
1.35 1.36 1.34
Eo ( s ) s + 1 Ro
G(s) =
Ei ( s )
=
s + 1
; = Ri C ; =
Ri + Ro
(1.37)
1.6
Ri
Ci
Ro
ei i eo
Co
1.15 1.6
KVCL
ei (t ) = vci (t ) + Roi (t ) + vco (t ) (1.38)
dvco (t ) vci (t ) dv (t )
i (t ) = Co
dt
=
Ri
+ C ci
dt
(1.39)
eo (t ) = Roi (t ) + vco (t ) (1.40)
Ei ( s ) = Vci ( s) + Ro I ( s) + Vco ( s) (1.41)
Vci ( s) (1.42)
I ( s ) = Co sVco ( s ) = + CsVci ( s)
Ri
Eo ( s ) = Ro I ( s) + Vco ( s) (1.43)
1.42 1.43 1.41
Eo ( s ) ( i s + 1)( o s + 1)
G(s) = = ; = Ri Ci ; o = Ro Co ; io = Ri C o
Ei ( s ) i o s 2 + ( i + o + io ) s + 1 i
(1.44)
1 13

1.16
1
R L C R sL sC
e i
1.16
1.16

v R (t ) = Ri (t ) VR ( s ) = RI ( s ) Z R ( S ) = VIR((SS)) = R
di (t )
v L (t ) = L V L ( s ) = LsI ( s) Z L ( s ) = VIL((ss)) = sL
dt
dv c (t ) 1
i (t ) = C I ( s ) = CsVC ( s) Z C ( s ) = VIC((ss)) =
dt sC
1 1
R R sL
sC sC
1.17
1.7
R
ei i C eo
1.18 1.7
eo (t )
eo (t ) = i (t ) Z C (1.45)
i (t ) = ei (t ) /( Z R + Z C ) (1.46)
I ( s)
Eo ( s ) = (1.47)
sC
I ( s ) = Ei ( s ) /( R + 1 / sC )
(1.48)
1.48 1.47
Eo ( s ) 1
G(s) = = ; = RC (1.49)
Ei ( s ) s + 1
1.8
C
ei i R eo
1.19 1.8
eo (t )
eo (t ) = i (t ) Z R (1.50)
i (t ) = ei (t ) /( Z R + Z C ) (1.51)
Eo ( s) = I ( s) R (1.52)
1 15
I ( s ) = Ei ( s ) /( R + 1 / sC ) (1.53)
1.53 1.52
Eo ( s ) s
G(s) = = ; = RC (1.54)
Ei ( s ) s + 1
1.9
Ri
Ro
ei i eo
C
1.20 1.9
eo (t )
e o ( t ) = i ( t )( Z Ro + Z C ) (1.55)
ei (t )
i (t ) =
( Z Ri + Z Ro + Z C ) (1.56)
1
Eo ( s ) = I ( s ) Ro +
sC (1.57)
I ( s) =
Ei ( s )
( Ri + Ro + 1 / sC ) (1.58)
1.58 1.57
Eo ( s ) s + 1 Ro
G(s) = = ; = RoC ; = (1.59)
Ei ( s ) ( / ) s + 1 Ri + Ro
1.10
Ri
ei C eo
Ro
i
1.21 1.10
eo (t )
eo (t ) = i (t ) Z Ro (1.60)
ei (t )
i (t ) =
Z Z (1.61)
Z Ro + Ri C
Z Ri + Z C
Eo ( s ) = I ( s ) Ro
(1.62)
Ei ( s )
I ( s) = (1.63)
R (1 / sC )
Ro + i
Ri + (1 / sC )
1.63 1.62
Eo ( s ) s + 1 Ro
G(s) = = ; = Ri C ; = (1.64)
Ei ( s ) s + 1 Ri + Ro
1 17
1.11
Ri
Ci
Ro
ei i eo
Co
1.22 1.11
eo (t )
eo (t ) = i (t )( Z Ro + Z Co ) (1.65)
ei (t )
i (t ) =
Z Z
Z Ro + Z Co + Ri Ci

(1.66)
Z Ri + Z Ci
Eo ( s ) = I ( s )( Ro + 1 / sC o ) (1.67)
Ei ( s )
I ( s) = (1.68)
1 R (1 / sCi )
Ro + + i
sCo Ri + (1 / sCi )
1.68 1.67
Eo ( s ) ( i s + 1)( o s + 1)
G(s) = = ; = Ri Ci ; o = Ro Co ; io = Ri C o
Ei ( s ) i o s 2 + ( i + o + io ) s + 1 i
(1.69)
1)
(Inverting Amplifier or Proportional Action)
Ro
Ri
ei eo
1.23
Ro
eo (t ) = ei (t )
Ri (1.70)

Eo ( s ) R
G ( s) = = o (1.71)
Ei ( s ) Ri
2)
(Integrator or Integral Action)
C
ei eo
1.24
1 (1.72)
RC
e (t ) =
o e (t )dt i

Eo ( s ) 1
G ( s) = =
Ei ( s ) sRC (1.73)
1 19
3)
(Differentiator or Derivative Action)
R
C
ei eo
1.25
dei (t )
eo (t ) = RC
dt (1.74)

Eo ( s )
G ( s) = = sRC (1.75)
Ei ( s)
4)
(Proportional-Integral Action)
Ro C
Ri
ei eo
1.26
Ro 1
Ri C
eo (t ) = ei (t ) ei (t )dt
Ri (1.76)

Eo ( s ) R 1 R + 1 / sC
G ( s) = = o = o (1.77)
Ei ( s ) Ri sRi C Ri
5)
(Proportional-Derivative Action)
Ro
Ri
C
ei eo
1.27
Ro de (t )
eo (t ) = ei (t ) RoC i (1.78)
Ri dt

Eo ( s ) R R
G ( s) = = o sRo C = o ( sRi C + 1) (1.79)
Ei ( s) Ri Ri
6)
(Proportional-Integral-Derivative Action)
Ro Co
Ri
Ci
ei eo
1.28
Ri Ci + RoCo 1 de (t )
eo (t ) =
Ri Co
ei (t )
Ri Co ei (t )dt RoCi i
dt (1.80)

Eo ( s ) ( sRi Ci + 1)( sRoCo + 1)
G ( s) = =
Ei ( s ) sRi Co (1.81)
1 21
K
Force F
M
i R L C e
B
1.29
1.29
dv(t )
M + Bv(t ) + K v(t )dt = F (t ) (1.82)
dt
1.29
de(t ) 1 1
C + e(t ) + e(t )dt = i (t ) (1.83)
dt R L
F (t ) i (t ); v(t ) e(t ); M C ; K 1 ; B 1
L R


(Single Input Single Output: SISO) 1.30
input Output
G(s)
R(s) Y(s)
1.30
Y ( s ) b0 s m + b1 s m 1 + K + bm 1 s + bm
G ( s) = = n ;m n (1.84)
R( s) s + a1 s n 1 + K + an 1 s + a n
G (s) (rational function) m n n

ai , bi
K ( s + z1 )( s + z 2 )K ( s + z m )
G(s) = ;m n
( s + p1 )( s + p2 )K( s + p n ) (1.85)
K zi pi
(Multi-Input Multi-Output: MIMO)

1.31
R1(s) G11(s) Y1(s)
G12(s)
G21(s)
R2(s) Y2(s)
G22(s)
1.31
1 23
Y1 ( s ) Y1 ( s ) Y2 ( s ) Y2 ( s )
G11 ( s ) = G12 ( s ) = G21 ( s ) = G22 ( s ) =
R1 ( s ) R R2 ( s ) R ( s ) =0 R1 ( s ) R R2 ( s ) R ( s ) =0
2 ( s )=0 1 2 ( s )=0 1
(1.86)

Y1 ( s ) G11 ( s ) G12 ( s ) R1 ( s )
Y ( s ) = G ( s ) G ( s ) R ( s ) (1.87)
2 21 22 2

[1] [2]
*
1.32
Zx Zx
Zy
Z1 Z2
Za
ei Z3 eo ei Zb Zc eo ei Zb Zc eo
1.32
Z1 Z 2 + Z 2 Z 3 + Z 3 Z1
Za =
Z3
Z1 Z 2 + Z 2 Z 3 + Z 3 Z1
Zb = (1.88)
Z2
Z1 Z 2 + Z 2 Z 3 + Z 3 Z1
Zc =
Z1
Z xZa
Zy = (1.89)
Z x + Za

Ei ( s ) Z c
Eo ( s ) =
Z y + Zc (1.90)

Eo ( s ) b0 s m + b1s m 1 + Kbm 1s + bm
G ( s) = = (1.91)
Ei ( s ) s n + a1s n 1 + K + an 1s + an
1 25
1) G ( s) = Eo ( s) / Ei ( s)
1.1) 1.2)
C2 R2
R R C C
ei C1 eo ei R1 eo
1.33 1 1.34 2
G(s) = C1C2 R 2 s 2 + 2C2 Rs + 1 G ( s) = (C 2 R1R2 ) s 2 + 2CR1s + 1

C1C2 R 2 s 2 + ( 2C2 + C1 ) Rs + 1 (C 2 R1R2 ) s 2 + (2 R1 + R2 )Cs + 1
1.3) 1.4)
L2 R2
L1 R R1 L
ei R eo ei L eo
1.35 3 1.36 4
G ( s) = (2 L1 + L2 ) Rs + R 2 G (s) =
L2 s 2 + (2 R1 + R2 ) Ls
L1L2 s 2 + (2 L1 + L2 ) Rs + R 2 L2 s 2 + (2 R1 + R2 ) Ls + R1R2
1.5)
L
C R
ei R eo
1.37 5
G (s) = LCRs 2 + CR 2 s + 2 R
LCRs 2 + ( L + CR 2 ) s + 2 R
2

2.1
2.1.1

3
1) (transfer function)
2) (summing)
3) (branching or sensing)

2.1
1) A(s)
2) Gc (s) 3) G p (s) 4) H (s) 5)
Z (s)

2 Yr
w q

w
Yr r + + y q
A(s ) e m +
Gc (s ) G p (s ) Z (s )

b
H (s )
2.1
2.1
2.2

if
Ra La
Tw
ia
ea eb TM J,B
2.2
Tw (s )
E a (s ) + 1 I a (s ) TM (s
(s) +

1 (s )
KT
La s + R a Js + B
Eb (s )
Kb
2.3
2.3

1) ea ia
ea (t ) eb (t )
ia (t ) =
Z La + Z Ra
(2.1)
eb (t ) 2.1

E ( s ) Eb ( s )
I a (s) = a (2.2)
La s + Ra
2.4
2 29
Ea ( s ) + 1 I a (s)
La s + Ra
Eb ( s )
2.4
2) ia t m
t m (t ) = K T ia (t ) (2.3)
K T ( )
2.3
TM ( s) = K T I a ( s ) (2.4)
2.5
I a (s) TM (s )
KT
2.5
3)
d (t )
J + B (t ) + t w (t ) = t m (t ) (2.5)
dt
t w 2.5

( Js + B) ( s) = TM ( s) Tw ( s ) (2.6)
2.6
Tw (s )
TM (s ) +

1 (s )
Js + B
2.6
4) eb (t ) (t )
eb (t ) = K b (t ) (2.7)
K b ( )
2.7
Eb ( s ) = K b ( s ) (2.8)
2.7
Eb (s ) (s )
Kb
2.7
5) 2.3
Rf i f (const )
Tw
if
Lf

ef TM J,B
2.8

Tw ((ss )
E f (s) 1 I f (s ) TM (s ) +

1 (s ) 1 (s )
Lf s + Rf
K T
Js + B s
2.9 2.8
2 31
AC supply
Rotor

ec Modulator J,B
Control Panel Capacitor

AC supply
2.10
Tw (s )
E c (s ) + +

1 (s ) 1 (s )
K1
Js + B s
K2
2.11 2.10
Rf
R
R
R Power amplifier
u ea
er
+ KA ia
+
Ra
Tw
+
Load

R et
2.12
Tw
er + Rf u ea + K T TM +

1
1 KA
R Ra Js + B
er
Kb
Kt
2.13
2.12
Rf
R
R
R
Power amplifier
R er

u ea
+ KA ia
+
Ra
M Tw
R Load
eo L L
2.14
nT w
R + Rf u ea + K T TM +
1 &M 1 M L
KP KA n
R Ra Js + B s
L
Kb
2.15
2.14
2.1.2

(Controller) (Plant)
(Measurement or Sensor)

2.16
r + e m y r + e y R(s) Gc G p Y (s )
Gc Gp Gc G p
1 + G c G p .H
H H
2.16
2 33
10

1)
X XG1G 2 X XG1G 2
G1 G2 G1G 2
2.17 1
2)
X + XG1 XG 2 X X (G1 G 2 )
G1 G1 G2

G2
2.18 2
3)
X + Y X G Y
G
+ 1 GH
H
2.19 3
4)
X + Y X G Y
G
1 + GH
H
2.20 4
5)
X1 + X1 X 2 + X1 X 2 + X 3 X1 + X1 + X 3 + X1 X 2 + X 3
+ +
X2 X3 X3 X2
2.21 5
6)
X3 X3
+ X1 X1 X 2 + + X X +X
X1 + X1 X 2 + X 3 + 1 2 3

X2 X2
2.22 6
7)
X1 + X 1G X 2 X1 + X 1G X 2
G G

X2 1
X2
G
2.23 7
8)
X1 + ( X 1 X 2 )G X1 + X 1G X 2 G
G G

X2
G X2
2.24 8
9)
X XG X XG
G G
X X 1/ G
2.25 9
10)
X XG XG
G X G
XG XG G
2.26 10
2 35
2.2
H2
R + + + Y
G1 G2 G3 G4
+
H1
H3
2.27
2.27

2
1)
2.27 G3 G4
G 4 9 2.28
H 2 / G4
Y
R + + +
G1 G2 G3 G4
+
H1
H3
2.28 1 1
3

2.28
2.29
2.30 2.31
H 2 / G4
Y
R + + G 3G 4
G1 G2
1 G3G 4 H 1
H3
2.29 1 2
R+ G 2 G 3G 4 Y
G1
1 G 3G 4 H 1 + G 2 G 3 H 2
H3
2.30 1 3
R G1G 2 G 3 G 4 Y
1 G 3 G 4 H 1 + G 2 G 3 H 2 + G1G 2 G 3 G 4 H 3
2.31 1 4
2)
2.27 G2 H 1 G2
7 G1 H 2 5
2.32
H2
R + Y
+ +
G1 G2 G3 G4
+
H 1 / G2
H3
2.32 2 1

2.33 2.34
2.35
R + + G 2G3 Y
G1 G4
+ 1 + G 2G3 H 2
H 1 / G2
H3
2.33 2 2
2 37
R+ G 2 G 3G 4 Y
G1
1 + G 2 G 3 H 2 G 3G 4 H 1
H3
2.34 2 3
R G1G 2 G 3 G 4 Y
1 + G 2 G 3 H 2 G 3 G 4 H 1 + G1G 2 G 3 G 4 H 3
2.35 2 4
2.2

2.2.1
1) (input
node) 2) (output node) 3) (gain) 4)
(branch) 2.36

Branch Gain
X1 G X2 X1 X2
G
Input node X 2 = GX 1 Output node X 2 = GX 1
2.36
2
1)
2.3

X 2 = G12 X 1 + G32 X 3 + G42 X 4 + G52 X 5 ; X 3 = G23 X 2 ;
X 4 = G34 X 3 + G44 X 4 ; X 5 = G35 X 3 + G45 X 4 ; (2.9)
X 1 X 5
2.9
X i X 1 X 5
X1 X2 X3 X4 X5
2.37

2.9
X 2 = G12 X 1 + G32 X 3 + G42 X 4 + G52 X 5

G 42
G 12
X1 X2 X3 X4 X5
G 32
G 52
2.38 1
2 39
2.9 X 3 = G23 X 2

G 23
X1 X2 X3 X4 X5
2.39 2
2.9 X 4 = G34 X 3 + G44 X 4

G 44
G 34
X1 X2 X3 X4 X5
2.40 3
2.9 X 5 = G35 X 3 + G45 X 4

G 45
X1 X2 X3 X4 X5
G 35
2.41 4
G 42
G 44
G 12 G 23 G 34 G 45
X1 X2 X3 X4 X5
G 32 G 35
G 52
2.42

2.43
G 42
G 44
G 12 G 23 G 34 G 45 1
X1 X2 X3 X4 X5 X5
G 32 G 35
G 52
2.43 2.9
2)
2.44
2.45
G4
H2
+
R + + + + Y
G1 G2 G3

H1 H3
2.44
G4
H2
1 1 1 1 1 1
G1 G2 G3
H3
H1
2.45 2.44
2 41
2.44
2.45

2.2.2
2.10
1 N X
M = Pi i = out
i =1 X in (2.10)
X in
X out
M
N
Pi

= 1 - () + (
) -
(
) + ...
= 1 Pm1 + Pm 2 Pm3 + K
m m m
Pout r m
i

i
2.4
G 42
G 44
G 12 G 23 G 34 G 45 1
X1 X2 X3 X4 X5 X5
G 32 G 35
G 52
2.46
2.46 2.10
1) 2

G 12 G 23 G 34 G 45 1
X1 X2 X3 X 4 X5 X5
2.47

P1 = G12G23G34G45
G 12 G 23 1
X1 X2 X3 X4 X5 X5
G 35
2.48

P2 = G12G23G35
2 43
2) 5

G 42
G 23 G 34
X2 X4
2.49

G23G34 G42

G 23
X 2
X3
G 32
2.50

G23G32

G 23 G 34 G 45
X2 X3 X4 X5
G 52
2.51

G23G34 G45G52

G 23
X2 X3 X5
G 35
G 52
2.52

G23G35 G52

G 44
X4
2.53

G44
3) 2

G 44
G 23
X2 X3 X4
G 32
2.54

G23G32 G44
2 45

G 44
G 23
X2 X3 X4 X5
G 35
G 52
2.55

G23G35 G52 G44
4)
= 1 (G23G32 + G23G34G42 + G44 + G23G34G45G52 + G23G35G52 )
+ (G23G32G44 + G23G35G52G44 )
5)
1 = 1

G 44
G 12 G 23
X1 X 2 X 3 X 4 X 5
G 35
2.56

2 = 1 G44
6)
X 5 P11 + P2 2 G12G23G34G45 + G12G23G35 (1 G44 )
M= = =
X1 1 (G23G32 + G23G34G42 + G44 + G23G34G45G52 + G23G35G52 )
+ (G23G32G44 + G23G35G52G44 )

2.5
G 4
H 2
1 1 1 1 1 1
G1 G 2
G 3
H
H 1
3
2.57
2.57 2.10
1) 2

1 1 1 1 1 1
G 1 G 2
G 3
2.58

P1 = G1G2 G3
G 4
1 1 1 1
2.59

P2 = G4
2 47
2) 4

1 1
G1
H 1
2.60

G1 H 1

H 2
1 1
G 2
2.61

G2 H 2

1 1
G 3
H 3
2.62

G3 H 3
G 4
H 2
1 1 1 1
H
H 1
3
2.63

G4 H 3 H 2 H 1
3) 1
1 1 1 1
G1 G 3
H
H 1
3
2.64

G1 H 1G3 H 3
4)
= 1 (G1 H1 G2 H 2 G3 H 3 G4 H 3 H 2 H1 ) + G1 H1G3 H 3
5)
1 = 1
2 49
G 4
H 2
1 1 1 1 1 1
G 2
2.65

2 = 1 + G2 H 2
6)
P11 + P2 2
M=

G1G2G3 + G4 + G4G2 H 2
=
1 + G1 H1 + G2 H 2 + G3 H 3 + G4 H 3 H 2 H1 + G1 H1G3 H 3
2.6

2.66
G6
W
Y = MR + M w W G5
+
R + + + + Y
G1 G2 G3 G4

H1
H2
Y Y
M= Mw =
R W =0 W R =0
2.66
2.66
1) M
W = 0 G5 G6

P1 = G1G2 G3G4
2
G3 H 1 G1G2 G3G4 H 2

= 1 (G3 H 1 G1G2 G3G4 H 2 )
1 = 1

G1G2 G3G4
M=
1 + G3 H 1 + G1G2 G3G4 H 2
2) M w
R = 0 R
2
G6 G2 G3G4 G5 G4
2
G3 H 1 G1G2 G3G4 H 2

= 1 (G3 H 1 G1G2 G3G4 H 2 )
1 = 2 = 1

G5 G4 G6 G2 G3G4
Mw =
1 + G3 H 1 + G1G2 G3G4 H 2
2 51
1)
1.1)
H3
H1
+
R + + + +
G3
Y
G1 G2

H2
2.67 1
Y G1G2 G3 + G1G3 H 1
=
R 1 + G2 H 2 + (G2 + H 1 )(G3 H 3 + G1G3 )
1.2)
H3
W
R + + + + Y
+
G1 G2 G3

H2
H1
2.68 2
Y G1G2 G3
=
R 1 + G2 H 3 + G3 H 2 + G1G 2 G3 H 1
1.3)
H1
G4
+
R + +
G1
+
G3 + Y
G2

H2
2.69 3
Y G1G2 G3 + G1G4
=
R 1 + G1G4 + G4 H 1 + G1G2 G3 + G2 G3 H 1 + G1G2 H 2
1.4)
H2

R +
G1
+
G3 + Y
G2
+
H1
G4
2.70 4
Y G1G2 G3 + G4 (1 + G2 H 1 + G1G2 H 1 + G2 G3 H 2 )
=
R 1 + G2 H 1 + G1G2 H 1 + G2 G3 H 2
1.5)
G2
+ Y
R +
G1 G3
+
+
H2 H1

G4
2.71 5
Y G1G2 + G1G3 + G1G2 G4 H 2 + G1G3 G4 H 2

=
R 1 + G1G2 H 1 H 2 + G1G3 H 1 H 2
3

3.1

1) (reference) R( s) 2) (disturbance) W ( s)
3.1

W (s )
R (s ) + Y (s )
+ e +
Gc (s ) G p (s )

H (s )
3.1
1)
T 3.2
PT (t )
t
0 T
3.2

1 for 0 < t < T
PT (t ) =
0 other

L [PT (t )] = PT ( s )
T
1
= e st dt = (1 e st )
0
s
2)
3.3
(t )
t
0
3.3

0 for t 0
(t ) =
1 for t = 0

L [ (t )] = ( s )
se s
= lim =1
0 s
3)
3.4
(t )
t
0
3.4
3 55

1 for t > 0
(t ) =
0 other

L [ (t )] = ( s )
1
=
s
4)
3.5
f (t )
t
0
3.5
t for t > 0
f (t ) =
0 other

L [ f (t )] = F ( s )
1
=
s2
5)
3.6
f (t )
t
0
3.6

t 2

f (t ) = 2 for t > 0
0 other
L [ f (t )] = F ( s) =
1
s3
6)
3.7
f (t )
1
0 t
3.7

f (t ) = sin t (t )
L [ f (t )] = F ( s) =
1
s +2
2
3 57
3.2

T ( s)

G( s)
(linear-time
invariant systems) 4
1) r (t ) R( s)
2) Y ( s) = T ( s) R( s)
3) Y ( s)
(inverse Lapace's transform)
4) Y ( s) y(t )
3.1
1
T ( s) =
s + 3s + 2
2
1. r (t ) = 5 (t )
2. r (t ) = 5t (t )
r (t ) = 5 (t )
1) r (t ) R( s)
5
R ( s) = L [r (t )] = L [5 (t )] =
s
2) Y ( s) = T ( s) R( s)
1 1 5
Y ( s) = T ( s) R( s) = R( s) =
s + 3s + 2
2
( s + 1)( s + 2) s
3) Y ( s)
1 5 A1 A A
Y (s) = = + 2 + 3
( s + 1)( s + 2) s s s + 1 s + 2
5 5
A1 = lim ( s ) =
s 0
s ( s + 1)( s + 2) 2
5
A2 = lim ( s + 1) = 5
s 1
s ( s + 1)( s + 2)
5 5
A3 = lim ( s + 2) =
s 2
s ( s + 1)( s + 2) 2
5/ 2 5 5/ 2
Y (s) = +
s s +1 s + 2
Force Natural
(Excitation) (System)
Y ( s) 2 (excitation)
(force response)
(system)
(natural response)
4) Y ( s)
5 5
y (t ) = 5e t + e 2t (t )
2 2
Steady-state Transient
response response
y(t )
(steady-state response)

(transient response) y(t )
3.8
r (t )
5
y (t )
2 .5
t
0 2 4 6 8
3.8 r (t ) = 5 (t )
3 59
r (t ) = 5t (t )
1) r (t ) R( s)
5
R ( s ) = L [r (t )] = L [5t (t )] =
s2
2) Y ( s) = T ( s) R( s)
1 1 5
Y ( s) = T ( s) R( s) = R( s) =
s + 3s + 2
2
( s + 1)( s + 2) s 2
3) Y (s)
1 5 A1 A2 A A
Y (s) = 2= 2 + + 3 + 4
( s + 1)( s + 2) s s s s +1 s + 2
5 5
A1 = lim ( s 2 ) 2 =
s 0
s ( s + 1)( s + 2) 2
d 2 5 15
A2 = lim (s ) 2 =
s 0 ds
s ( s + 1)( s + 2) 4
5
A3 = lim ( s + 1) 2 =5
s 1
s ( s + 1)( s + 2)
5 5
A4 = lim ( s + 2) 2 =
s 2
s ( s + 1)( s + 2) 4
5 / 2 15 / 4 5 5/ 4
Y (s) = +
s 2
s s +1 s + 2
Force Natural
4) Y ( s)
15 5 5
y (t ) = + t + 5e t e 2t (t )
4 2 4
Steady-state Transient
r (t )
6 y (t )
t
0 2 4 6
3.9 r (t ) = 5t (t )
3.2
K
T (s) =
s+a
r (t ) = Ro sin t
1) r(t) R(s)
Ro
R ( s ) = L [r (t )] =
s +2
2
2) Y(s)=T(s)R(s)
KRo
Y (s) =
( s + a)( s 2 + 2 )
3) Y(s)
KRo A A2 A3
Y (s) = = 1 + +
( s + a )( s j )( s + j ) s + a s j s + j
KRo KRo
A1 = lim ( s + a) =
s a
( s + a)( s + ) 2 + a 2
2 2
KRo KRo ( + ja )
A2 = lim ( s j ) =
s j
( s + a )( s j )( s + j ) 2( 2 + a 2 )
KRo KRo ( ja )
A3 = lim ( s + j ) =
s j
( s + a)( s j )( s + j ) 2( 2 + a 2 )
KRo 1 KRo s a
Y (s) =
2 + a2 s + a 2 + a2 s2 + 2
4) Y(s)
KRo at KR a
y (t ) = e + 2 o 2 sin t cos t
+a
2 2
+a a
Transient Steady-state
r (t )
y (t )
t
3.10 r (t ) = Ro sin t
3 61
3.3

y(t )

MATLAB

1) step()
step()

MATLAB
3.3
10
T (s) =
s + 3s + 2
2
num=[10]
den=[132]
T=tf(num,den)
step(T)

num=[10] num
10*s0 [10] den=[1 3 2]
den 1*s2+3*s1+2*s0 [1 3 2]
T tf()
transfer function
step() MATLAB
3.11
Step Response
5
4.5
3.5
3
Amplitude
2.5
1.5
0.5
0
0 1 2 3 4 5 6
Time (sec. )
3.11 3.3 MATLAB
T=zpk([],[21],10)
step(T)
T zpk()
zero, pole, k
K zpk() []
[-2 -1]
-2 -1
K=10
step() MATLAB
3.11
T
3 63
3.4
48
T (s) =
( s + 3)( s 2 + s + 16)
num=[48]
den=conv([13],[1116])
T=tf(num,den)
step(T)
tf()

conv() convolution

step() MATLAB
3.12
Step Response
1.4
1.2
1
A mplitude
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9
Time (sec.)
3.12 3.4 MATLAB

2) impulse()
impulse()

3.5
5s
T (s) =
(2s + 6)
num=5*[10]
den=[26]
T=tf(num,den)
impulse(T)
tf()

impulse()
MATLAB
3.13
Step Response
5
4.5
3.5
3
Amplitude
2.5
1.5
0.5
0
0 1 2 3 4 5 6
Time (sec. )
3.13 3.5 MATLAB

3 65
3)
(symbolic commands)

3.6
10( s + 1)
T (s) =
s 2 + 5s + 6
r (t ) = 6 (t ) cos 4t
symsst
T=10*(s+1)/(s^2+5*s+6)
R=laplace(6*cos(4*t))
Y=T*R
y=ilaplace(Y)
ezplot(y,[05])
syms s t
s
laplace()
t
laplace()
(t )
T R
Y
ilaplace()
s Y
eazyplot()
y (t ) t y(t )
t 0-5 [0 5]
eazyplot() MATLAB
3.14
-72/5*exp(-3*t)+6*exp(-2*t)+42/5*cos(4*t)+36/5*sin(4*t)
10
-5
-10
0 1 2 3 4 5
t
3.14 3.6 MATLAB
3.4

K
T (s) =
s + 1
r (t ), R( s) = 1 / s
K 1
Y ( s) = T ( s) R( s) = = K
s (s + 1) s s + 1
y (t ) = L -1 [Y ( s )] = K (1 e t / )
3.15
3 67
y (t )
K
K (1 e t / )
t
0
Ke t /
K
3.15
3.7
ei i C eo
3.16 3.7
Eo ( s ) 1
T (s) = = ; = RC
Ei ( s ) s + 1
ei (t ) = 5u (t ) Ei ( s) = 5 / s
5 1
Eo ( s ) = Y ( s ) = T ( s ) R ( s ) = = 5
s ( RCs + 1) s RCs + 1
e o (t ) = y (t ) = 5(1 e t / RC )
3.17
eo (t ) or vc (t ) shorter or less RC
5
5(1 e t / RC )
0 t
longer or more RC
3.17 3.7
3.5

K N ( s)
T (s) =
1 2
(3.1)
s2 + s +1
n2 n
K
N (s )
K = 1 N ( s) = 1
(standard second order)
1
T ( s) = (3.2)
1 2 2
s + s +1
n2 n
n (Undamped natural frequency )

(damping ratio)
4
1) (Undamped response)

3.2
n2
T (s) = 2
s + n2

n2
Y (s) =
s ( s 2 + n2 )
1 s
= 2
s s + n2
3 69

y (t ) = 1 cos nt
3.18
y (t ) y (t ) = 1 cos n t
=0
= 0 .1
= 0 .7
=1
= 1 .5
1
0 t
3.18
2) (Underdamped response)
0 < <1
3.2
n2
T (s) =
s 2 + 2 n s + n2

n2
Y (s) =
s ( s 2 + 2 n s + n2 )
1 s + n n
=
s ( s + n ) + d ( s + n ) 2 + d2
2 2
d (Damped natural frequency )
d = n 1 2
Y ( s)

y (t ) = 1 e nt cos d t + sin d t
1 2

e nt 1 2
= 1 sin d t + tan 1
1 2

3.19
e n t 1 2
y (t ) 1 sin d t + tan 1
1 2
=0
= 0 .1
= 0 .7 = n
=1
= 1 .5
1
0 t
3.19
3) (Critically damped response)

=1
3.2
n2
T ( s) = 2
s + 2 n s + n2

n2
Y ( s) =
s ( s 2 + 2 n s + n2 )
1 n 1
=
s ( s + n ) 2
s + n

y (t ) = 1 e nt nte nt
3.20
y (t ) y (t ) = 1 e nt n te nt
=0
= 0.1
= 0.7
=1
= 1.5
1
0 t
3.20
3 71
4) (Overdamped response)
> 1
3.2
n2
T ( s) = 2
s + 2 n s + n2

n2
Y (s) =
s ( s 2 + 2 n s + n2 )
n2
=
s ( s + n s + n 2 1)( s + n s n 2 1)
1 n2 1

= +
s 2 2 1 + 2 1 ( ) s + + 2 1
n n
n2 1

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

1 + 2 1 n t 1 2 1 n t
y (t ) = 1 +
( )
( )

e e
2 2 1 + 2 1 2 2 1 2 1
3.21
1 + 2 1 n t 1 2 1 n t
y (t ) = 1 +
( )
( )

e e
2 2 1 + 2 1 2 2 1 2 1
y (t )
=0
= 0.1
= 0.7
=1
= 1.5
1
0 t
3.21
3.8

100
T ( s) =
s + 3s + 13
2
3.1
s 0 1 13
100
T ( s) = 13 (3.3)
1 2 3
s + s +1
13 13

100
K=
13
3.1 s 2
3.3
1 1
= 2
13 n
n = 13 = 3.6
3.1 s1
3.3
3 2
=
13 n
3 13
= = 0.42
26
d = n 1 2 = 3.5(0.9) = 3.27
3 73
1)
(, , , )
2
1.1) T ( s) =
s + 5s + 2
2
9
1.2) T ( s) =
s + 6s + 9
2
1.3) T (s) =
5
3s + 4s + 5
2
= 0.516
100
1.4) T ( s) =
s + s + 100
2
49
1.5) T ( s) =
s + 7 s + 49
2
2)
()
2.1) T (s) =
100
s + s + 100
2
K = 1; n = 10; = 0.05 ; no zero
3s 49
2.2) T ( s) =
s + 3s + 49
2
K = 3 / 49; n = 7; = 0.214; s = 49 / 3
s 2 + 9s
2.3) T (s) =
s 2 + 4s + 10
K = 0.1; n = 10 ; = 0.632; s = 0, 9
s2 + 2
2.4) T (s) =
s 2 + 2 s + 20
K = 0.05; n = 20 ; = 0.224; s = 2i
3s + 0.7
2.5) T (s) =
s + 0.3s + 4
2
K = 3 / 4; n = 2; = 0.075; s = 0.7 / 3
3) MATLAB
32
3.1) T (s) = ; r (t ) = (t )
( s + 2) ( s 2 + 16)
2
48
3.2) T (s) = ; r (t ) = 3e 3t
( s + 3)( s 2 + s + 16)
1
3.3) T (s) =
s + 10
; r (t ) = 3 (t ) cos10t
3.4) T (s) =
1
; r (t ) = 7t (t )
s + 1000
20 s
3.5) T (s) = ; r (t ) = 8 (t ) sin 100t
s + 300
4

4.1

4.1.1

Y ( s ) b0 s m + b1s m 1 + K + bm 1s + bm
T (s) = = n ;m n
R( s) s + a1s n 1 + K + an 1s + an
dny d n 1 y dy d mr d m 1r dr
n
+ a1 n 1
+ K a n 1 + a n = b0 m
+ b1 m 1
+ K + bm 1 + bm
dt dt dt dt dt dt
polynomial due to initial conditions

Y ( s) = T ( s) R( s) + (4.1)
s n + a1s n 1 + K + an 1s + an
zero-state response zero-input response

4.1.2
4.1
1)
(Zero-state response)

2)
(Zero-input response)
4.1.3

1)
(Forced response)
2) (Characteristic root)
(Natural response)
4.1
Y ( s) s+5
T (s) = = 2
R( s) s + 6s + 8
r (t ) = 7e 3t , y (0 ) = 0, y (0 ) = 1, r (0 ) = 7
1)
d2y dy dr
+ 6 + 8 y = + 5r
dt 2
dt dt
2)
s 2Y ( s) sy (0 ) y(0 ) + 6[ sY ( s) y (0 )] + 8Y ( s) = [ sR( s ) r (0 )] + 5R ( s)
Y ( s )[ s 2 + 6s + 8] = sy (0 ) + y(0 ) + 6 y (0 ) + r (0 ) + R( s)[ s + 5] (4.2)

4 77
3)
7
R ( s ) = L [ 7 e 3t ] =
s+3
4) 4.2 Y (s )
7( s + 5) 8
Y (s) = + 2
( s + 6 s + 8)( s + 3) ( s + 6s + 8)
2
(4.3)
Zero-state Zero-input
5) 4.2 Y (s )

56 28.5 27.5
Y (s) = + +
( s + 3) ( s + 2) ( s + 4) (4.4)
Forced Natural
4.3 4.4

4.2
(Stability)
.
2
1) (External, Bounded Input Bounded Output:BIBO)
2) (Internal, Zero-input)
4.2.1
(relaxed
system) (bounded input)
(bounded output)

(bounded
input) (Forced response)
(bounded output)

(zero-state impulse response)
4.2.2
(zero-state impulse response)
b0 s m + b1s m 1 + K bm 1s + bm K ( s + z1 )( s + z 2 ) K ( s + zm )
Y ( s) = T ( s) R( s) = n n 1 =
s + a1s + K + an 1s + an ( s + p1 )( s + p2 ) K ( s + pn )
r (t ) = (t ); R( s ) = 1
L -1 [Y ( s )] = L -1 [T ( s)]
4 79
(s-plane)
)
T (s) =
1 im
s+a
re
t
a
)
1 im
T (s) =
sa
re
t
a
4.1
4.1
4.1 ) (
)
(left-half plane:LHP)

4.1 )
(right-half
plane:RHP)

)
T (s) =
1 im
(s + a)2
re
a t
)
1 im
T (s) =
(s a) 2
re
a t
4.2
4.2 )

4.2 )

)
1
T (s) =
( s + a + jb )( s + a jb )
im
jb t
re
a
jb
)
1
T (s) =
( s a + jb )( s a jb )
im
jb t
a re
jb
4.3
4 81
4.3 )

4.3
)

)
1
T (s) =
( s + jb )( s jb )
im
jb re
t
jb
)
1
T (s) =
(( s + jb )( s jb )) 2
im
jb t
re
jb
4.4
4.4 )

(Marginally stable) 4.4 )

)
1
im
T (s) =
s re
t
)
1 im
T (s) =
s2
re
t
4.5
4.5 )

4.5 )

4.1-4.5

4.4

4.6
4 83
stable j
unstable
p1 p2
p3
p4
LHP p5 p6
RHP

4.6

2( s 2)
T (s) =
( s 2)( s + 3)

+2

4.2
s 1
Y (s) =
s + 5s + 6
2

( s 1)
Y ( s) =
( s + 2)( s + 3)
()() 4.7
im
re
3 2 1
4.7 4.2
4.3
s 3
Y (s) =
s +s6
2

( s 3)
Y (s) =
( s 2)( s + 3)
()() 4.8
im
re
3 2 3
4.8 4.3
s = 2
4 85
4.2 4.3

4.2.3

(RHP) (s-plane)

z ( s) bm s m + bm 1s m 1 + K b1s + b0
Y ( s) = T ( s) R( s) = =
p( s ) an s n + an 1s n 1 + K + a1s + a0

p( s ) = an s n + an 1s n 1 + K + a1s + a0
sn an an 2 an 4
s n 1 an 1 an 3 an 5 L
s n2 b1 b2 b3
s n 3 c1 c2 c3 L
n4
s d1 d2 d3
M
s0
1) s n
s n1 , s n2 s n3 s 0
2)
3)
an a n 2

an 1 an 3 an 1an 2 an an 3
b1 = =
an 1 an 1
an an 4

an 1 an 5 an 1an 4 an an 5
b2 = =
an 1 an 1
an 1 an 3

b1 b2 b1an 3 b2 an 1
c1 = =
b1 b1
an 1 an 5

b1 b3 b1an 5 b3an 1
c2 = =
b1 b1

s 0
4) s 0

"
"
4.4
p( s ) = 2s 4 + 3s 3 + 5s 2 + 2s + 6
s4 2 5 6 0
s3 3 2 0 0
s2 b1 b2 b3
s c1 0
s0 d1
3(5) 2(2)
b1 = = 11 3
3
3(6) 2(0)
b2 = =6
3
4 87
(11 / 3)2 3(6)

c1 = = 32 11
11 / 3
(32 / 11)6 0
d1 = =6
(32 / 11)
s4 2 5 6
s3 3 2 0
s2 11 / 3 6
s 32 / 11
s0 6
2 3, 11/3
s1 -32/11
s 0 6

2
(RHP)

MATLAB
roots()
roots([2 3 5 2 6])
>> roots([2 3 5 2 6])

ans =
-1.0414 + 1.2009i
-1.0414 - 1.2009i
0.2914 + 1.0499i
0.2914 - 1.0499i
>>
MATLAB
0.2914 + 1.0499i 0.2914 - 1.0499i
s 0
1) (Left column zero)
()

2) (Row of zeroes)

4.5 (
)
p ( s ) = s 3 3s + 2
s3 1 3
s2 0 2
0( 3) 1( 2)
s1 =
0
s0
s3 1 3
s2 2
( 3) 1( 2) 2
s1 = 0

( 2 / ) 2 (0)
s0 =2
2/
4 89
1
s1 2 /
s 0 2

2 (RHP)

MATLAB
>> roots([1 0 -3 2])

ans =
-2.0000
1.0000
1.0000
>>
MATLAB
1
4.6 (
)
p ( s ) = s 6 + 2 s 5 + 5s 4 + 6 s 3 + 2 s 2 8s 8
s6 1 5 2 8
s5 2 6 8
10 6 4+8 16 0
s4 2
=2
2
=6
2
= 8
12 12 16 + 16
s3 2
=0
2
=0 0
s 3

s6 1 5 2 8
s5 2 6 8
s4 2 6 8 A( s ) = 2s 4 + 6s 2 8
s3 dA( s)
8 12 0 = 8s 3 + 12s
ds
48 24 64 0
s2 8
=3
8
= 8
36 + 64 100
s1 3
=
3
0
(100 / 3)( 8) 0
s0 (100 / 3)
= 8
1
(RHP)
MATLAB
>> roots([1 2 5 6 2 -8 -8])

ans =
-0.0000 + 2.0000i
-0.0000 - 2.0000i
1.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
-1.0000
>>
MATLAB
1
4 91
4.7 (
)
p( s ) = s 4 + s 3 3s 2 s + 2
s4 1 3 2
s3 1 1 0
3 +1 2+0
s2 1
= 2
1
=2 0
22
s1 2
=0 0
s1
s4 1 3 2
s3 1 1 0
s2 2 2 A( s ) = 2s 2 + 2
dA( s )
s1 4 0 = 4 s
ds
80
s0 =2
4
2
(RHP)
MATLAB
>> roots([1 1 -3 -1 2])

ans =
-2.0000
-1.0000
1.0000
1.0000
>>
MATLAB
1
4.8 (
)
p( s ) = s 6 + s 5 + 3s 4 + 3s 3 + 3s 2 + 2 s + 1
s6 1 3 3 1
s5 1 3 2
33 3 2 1 0
s4 1
=0
1
=1
1
=1
s 4
s6 1 3 3 1
s5 1 3 2
s4 1 1
3 1 2 1
s3
2 + 4 1
2
3 1 3 1
s2 3 1

=1
4 2
s1 2 2 4 + 1
0 0
s1
s6 1 3 3 1
s5 1 3 2
s4 1 1
3 1 2 1
s3
2 + 4 1
2
3 1 3 1 A( s) = s 2 + 1
s2 3 1

=1
s1 dA( s)
2 = 2s
ds
20
s0 2
=1
4 93
2
(3 1) / (
(3 1) /
(2 2 + 4 1) /(3 1) 1
(RHP)
MATLAB
>> roots([1 1 3 3 3 2 1])

ans =
0.1217 + 1.3066i
0.1217 - 1.3066i
-0.0000 + 1.0000i
-0.0000 - 1.0000i
-0.6217 + 0.4406i
-0.6217 - 0.4406i
>>
MATLAB
4.9
r + 1 y
Kc
s ( s + s + 1)( s + 4)
2
4.9 4.9

Y ( s) Kc
T (s) = =
R ( s ) s ( s + s + 1)( s + 4) + K c
2
Kc
Y (s) = T (s) =
s + 5s + 5s 2 + 4 s + K c
4 3
p ( s ) = s 4 + 5 s 3 + 5s 2 + 4 s + K c
Kc
s4 1 5 Kc
s3 5 4
25 4 5K c
s2 5
= 21 / 5 = Kc
5
84 21
s1 5K c
5 5
s0 Kc
s1 , s 0 K c

2
1) K c s 0
Kc > 0
2) s1
84 21
5K c > 0
5 5
84
Kc <
25
1) 2)
84
0 < Kc <
25
K c = 84 / 25
4 95
4.10 Kc
r + 5 s+3 y
K c 1 +
s s + 2s + 2
2
4.10 4.10

5
K c 1 + ( s + 3)
Y ( s) s
T (s) = =
R( s) 5
s 2 + 2s + 2 + K c 1 + ( s + 3)
s
K c N ( s)
=
s + (2 + K c ) s 2 + (2 + 8K c ) s + 15 K c
3

p( s ) = s 3 + (2 + K c ) s 2 + (2 + 8K c ) s + 15K c
Kc
s3 1 2 + 8K c
s2 2 + Kc 15K c
8 K c + 3K c + 4
2
1
s 2 + Kc
s0 15 K c
s 2 , s1 s 0 K c

3
1) K c s 0
15 K c > 0
Kc > 0
2) s 2
2 + Kc > 0
K c > 2
1) K c K c > 0
3) s1
8 K c + 3K c + 4
2
>0
2 + Kc
K c K c

K c = 0
2>0
Kc Kc > 0
4 97
1)

1.1) p( s) = s 4 + 3s 2 + 4
RHP = 2
1.2) p( s) = s 6 + 3s 5 + 2s 4 + 9s 3 + 5s 2 + 12s + 20
RHP = 2
1.3) p(s) = s 4 + 2s 3 + 5s 2 4s 14
RHP = 1
1.4) p( s) = s 5 + s 4 + 2s 3 + 2s 2 + 3s + 5
RHP = 2
1.5) p( s) = 2s 5 + 4s 4 + s 3 + 2s 2 + 3s + 6
RHP = 2
2) K c

2.1) p( s) = s 4 + s 3 + 3s 2 + 2s + 4 + K c
4 < K < 2
c
2.2) p( s) = s 4 + 3s 3 + 3s 2 + 2s + K c
K < 14 / 9
c
2.3) p(s) = 2s 3 + (6 2 K c )s 2 + (4 + 3K c )s + 10
1 / 3 < K < 2
c
2.4) p( s) = s 3 + 3K c s 2 + ( K c + 2) s + 4
K c > 0.528
2.5) p( s) = s 3 + (2 + K c ) s 2 + (8 + K c )s + 6
Kc > 1.12
5

5.1

1)

(steady-state response) 2)

(transient-state response) 5.1
r + y
Kc G p (s )

0 0
Response = Transient + Steady State

5.1

(Performance Specifications) 1)
2)
5.1.1

1) (Rise time, tr )

10%
90%

2) (Peak time, tp )

3) (Peak overshoot or maximum overshoot, Mp )

4) (Settling time, ts )

+/-5% +/-2%
5.1.2

(Steady-state error, ess )
(Set point or reference)
(System type number)
5.2
y (t ) Underdamped Standard 2nd Order System, K=1

response
y (t p ) y () 2% or
%M p = 100% ess = 0
y ( ) 5%
Overdamped
90%
ess 0
response
K 1
10%
0 tr ts t
tp
tr Unit-step response of 2nd Order System
5.2
5 101
5.2

(Dominant
complex poles: sd )

R (s ) + E (s ) n2 Y (s )
G (s) =
s ( s + 2 n )
5.3

Y ( s) n2
T (s) = = 2
R( s ) s + 2 n s + n2

n2
Y (s) =
s ( s 2 + 2 n s + n2 )
y (t ) = 1
e nt
1 2
(
sin n 1 2 t + )
= cos 1
= cos
Dominant complex poles j

0
n
5.4

(Underdamped response) 5.5
y (t )
=0
= 0 .1
= 0 .7
=1
0 t
5.5
1) (Rise time, tr ) y (t ) y ()

tr =
n 1 2 (5.1)
2) (Peak time, tp )
dy (t ) / dt = 0

tp =
n 1 2 (5.2)
3) (Peak overshoot or maximum overshoot, Mp ) ( y(t ) y()) / y()
% M p = e 1 100%
2
(5.3)
100 exp(- damp/(1-damp2)1/2)

100
90
80
70
60
50
40
30
20
10
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
damp
5.6 %Mp
5 103
4) (Settling time, ts )
+/-5%
+/-2%
4
t s (2% tolerance)

(5.4)
n
3
t s (5% tolerance)
n 0 < < 0.68 (5.5)
+/-5% > 0.68 5.5 ( 3)
nt s
5
4
3
2
0 .7 0 . 8 0 . 9 1 . 0

Normalized Curves (+/-5%)

5.7
5) (Steady-state error, ess )

K=1 e ss = 0 K 1 e ss 0

(System type number)
5.3
5.5
() 0<<1 5.3
(Mp)

5.1, 5.2, 5.4 5.5

(n)

(Dominant complex poles: sd )

(Uncompemsated system)

(Compemsated system)

5.1
r + 4500 y
Kc
s ( s + 361 .2)
R(s) 4500 K c Y (s )
s + 361 .2 s + 4500 K c
2
5.8 5.1
s 2 + 361.2s + 4500 K c
5 105
s 2 + 2 n s + n2

n = 4500 K c
(5.6)
=
361.2
=
2.692 (5.7)
2 4500 K c Kc
s1, 2 = 180.6 32,616.36 4500 K c (5.8)
1)
y (t )
=0
= 0.1
= 0.7
=1
0 t
5.9
=1
5.7 K c = 7.247
5.6 n =180.6
5.8 s =-180.6

( 5.7 =1 )
4.7
t s (5% tolerance) = 0.026 sec .
n
2)
y (t )
=0
= 0.1
0.707
=1
0 t
5.10

=0.707
5.7 K c = 14.7
5.6 n =255.44
5.8 s = 180.6 j180.6

-
cos 1 45 / 180
tr = = = 0.013 sec .
d 180.6
-

tp = = 0.0174 sec .
d
-
M p = e 1 2
100% = 4.3%
- ( 5.7 =0.707 )
3
n
5 107
3)
y (t )
=0
0 .4
=1
0 t
5.11

25% =0.4
5.7 K c = 45.3
5.6 n =451.1
5.8 s = 180.6 j 413.8

-
cos 1
tr = = 0.0048 sec .
d
-

tp = = 0.0076 sec .
d
-
M p = e 1 2
100% = 25.38%
-
3
n
5.4

Y ( s) n2
= 2 (5.9)
R( s ) s + 2 n s + n2
5.4.1
5.9
( s + )(n2 / )
Y1 ( s ) =
s ( s 2 + 2 n s + n2 )
n2 s n2
= +
s ( s 2 + 2 n s + n2 ) s ( s 2 + 2 n s + n2 )
s
= Y (s) + Y (s)

1 dy (t )
y1 (t ) = y (t ) +
dt
5 109
5.12
1 dy (t )
y1 (t ) = y (t ) +
dt
y (t )
dy (t )
dt
t
5.12
5.12

(overshoot)

5.13
y1 (t ) = 0.5 lesser significant location of zero

=2
= 50
y (t )
5.13

5.14
1 dy (t )
y1 (t ) = y (t )
y (t ) dt
dy (t )

dt
5.14
5.4.2

5.9

n2
Y2 ( s ) =
s ( s + )( s 2 + 2 n s + n2 )
n2
y2 (t ) = 1 e t + e nt cos n 1 2 t + +
C 2
C 1 2
2 (5.10)
C
5.15
y2 (t ) = 50 = 2 lesser significant location of pole

=1
y (t ) = 0.5
5.15
5 111
5.10 5.15

t
cos()

/ C t
cos()
(LHP)

(LHP)

5.16
adding zero
y (t )
adding pole
t
5.16
5.5

2
1)
(n)
2)
0<<1


(Dominant complex poles)
2
1)

2)


5
5.17
= 0 .4
= 0 .7 Im(s )
n
Dominant Poles
Re(s )
Region of
insignificant zero
5.17

5
5.18
5 113
Im(s )
Region of
insignificant poles
Re(s )
5.18

1)

2)

3)

(Pole and Zero Cancellation)
5.6

(Steady-state error, ess ) (System type
number)
1) (Unit-step)
0 (System type 0)
2) (Ramp)
1 (System type 1)
3) (Parabola)
2 (System type 2)
5.19
r (t ) y (t )
T (s )
y (t ) y (t ) y (t )
u (t ) t.u (t ) ess t 2 .u (t ) ess
ess
0 t 0 t 0 t
ess to ess to ess to

r (t ) = u (t ) r (t ) = t.u (t ) r (t ) = t 2 .u (t )
System Type 0 C0
System Type 1 0 C1
System Type 2 0 0 C2
5.19
e(t)

r (t ) y (t )
T (s)
5.20
e(t ) = r (t ) y (t )
E ( s) = R( s) Y ( s) (5.11)
Y ( s) = T ( s) R( s) (5.12)
5.12 5.11
E ( s) = R( s) T ( s) R( s)
= (1 T ( s )) R( s )
5 115
TE ( s ) = 1 T ( s )
E ( s ) = TE ( s ) R ( s )
r (t ) e (t )
TE ( s )
5.21
ess = lim e(t )

t
= lim sE ( s )
s 0
= lim sTE ( s ) R( s )
s 0
r(t)=Au(t), R(s)=A/s
ess = lim sTE ( s ) R( s )
s 0
A
= lim sTE ( s )
s 0 s
= ATE (0)
r(t)=Atu(t), R(s)=A/s2
A
ess = lim sTE ( s )
s 0 s2
ATE ( s )
= lim
s 0 s
TE(s) s=0 1
r(t)=At2u(t), R(s)=A/s3
A
ess = lim sTE ( s )
s 0 s3
ATE ( s )
= lim
s 0 s2
TE(s) s=0 2
5.1
e ss to e ss to e ss to
r (t ) = u (t ) r (t ) = t .u (t ) r (t ) = t 2 .u (t )
System Type 0 C 0 = TE ( 0 )
TE ( s )
System Type 1 0 C1 = lim
s0 s
TE ( s )
System Type 2 0 0 C 2 = lim
s0 s 2
M
5.2
r + 10 y
s + 8s 2 + 2 s
3
5.22 5.2
R (s ) 10 Y (s )
s + 8 s + 2 s + 10
3 2
5.23
5 117
TE ( s ) = 1 T ( s )
10
=1
s + 8s + 2 s + 10
3 2
s ( s 2 + 8s + 2)
= 3
s + 8s 2 + 2 s + 10
TE(s) s=0 1
TE ( s )
C1 = lim
s 0 s
s ( s 2 + 8s + 2) 1
= lim =
s 0 s ( s + 8s + 2s + 10) 5
3 2
r + y
G (s )

5.24
G ( s)
T (s) =
1 + G(s)
G ( s) 1
TE ( s ) = 1 T ( s ) = 1 =
1 + G(s) 1 + G(s)
N (s)
G(s) =
D( s )
N(s) D(s)
1 D( s )
TE ( s ) = =
1 + G ( s) D( s) + N ( s )
s=0 TE(s)
s=0 G(s) s=0
D(s)
r(t)=Au(t), R(s)=A/s
A A
ess = lim sTE ( s ) = lim
s 0 s s 0 1 + G ( s )
K p = lim G ( s ) = G (0)
s 0
A
ess =
1+ K p
r(t)=Atu(t), R(s)=A/s2
A A A
ess = lim sTE ( s ) = lim = lim
s 0 s 2 s 0 s[1 + G ( s )] s 0 sG ( s )
K v = lim sG ( s )
s 0
A
ess =
Kv
r(t)=At2u(t), R(s)=A/s3
A A A
ess = lim sTE ( s ) = lim 2 = lim 2
s 0 s 3 s 0 s [1 + G ( s )] s 0 s G(s)
K a = lim s 2 G ( s )
s 0
A
ess =
Ka
5 119
5.1
e ss to e ss to e ss to
r (t ) = u (t ) r (t ) = t .u (t ) r (t ) = t 2 .u (t )
System Type 0
1
1+ K p

System Type 1 0
1

Kv 1
System Type 2 0 0 Ka
5.3
r + 10 y
s + 8s 2 + 2 s
3
5.25 5.3
5.2
r + 10 y
s ( s + 8 s + 2)
2
5.26 5.3
10
G(s) =
s ( s + 8s + 2)
2
s=0 G(s) 1
1
ess =
Kv
10
K v = lim sG ( s ) = lim s =5
s 0 s 0 s ( s + 8s + 2)
2
1
ess =
5

G(s)
0
G(s) 1

G(s)
1)
r + y
G (s )

H (s )
r + + y
G (s )

H (s) 1
r + G (s ) y
1 + G ( s )[ H ( s ) 1]
5.27
2)
T (s )
r + T (s ) y
1 T (s)
5.28
5 121
5.7

-
-

-
-

(System Sensitivity)

5.4
r + 4 y
100
s+2
5.29 5.4
400 /( s + 2) 400
T ( s) = =
1 + 400 /( s + 2) s + 402
1) 2
r + 4 y
100
s + 2 k1
5.30
400 /( s + 2k1 ) 400
T (s) = =
1 + 400 /( s + 2k1 ) s + (400 + 2k1 )
k1 +/-100%
2) 100
r + 4 y
100 k 2
s+2
5.31
400k 2 /( s + 2) 400k 2
T (s) = =
1 + 400k 2 /( s + 2) s + (400k 2 + 2)
k2 +/-100%
3) 1
r + 4 y
100
s+2
1k 3
5.32
400 /( s + 2) 400
T (s) = =
1 + 400k3 /( s + 2) s + (400k3 + 2)
k3 +/-100%
5 123
1)

+/-5%
60
1.1) T (s) = % M P = 15.07; t r = 0.637; t s = 1.502
2s + 8s + 30
2
49
1.2) T (s) = % M P = 39.15; t r = 0.277; t s = 1.498
s + 4s + 49
2
1.3) T (s) =
100 % M P = 52.66; t r = 0.18; t s = 1.5
s + 4 s + 100
2
100
1.4) T ( s) = % M P = 25.38; t r = 0.432; t s = 1.5
s + 4 s + 25
2
1.5) T ( s) =
20 % M P = 32.73; t r = 0.454; t s = 2.003
s + 3s + 20
2
2)

2.1)
R (s ) + 6s + 8 Y (s )
s + 6s + 7
2
5.33 2.1
7
C0 = ; C1 = ; C2 =
15
2.2)
2
R(s) 1 1 Y (s)
1 s 1 s 3 1
2
3
5.34 2.2
4
C0 = ; C1 = ; C2 =
3
2.3)
R(s ) + 10
Y (s )
s + 3s + 4
2
6
s + 10
5.35 2.3
6
C0 = 0; C1 = ; C2 =
25
2.4)
Y (s)
R( s ) + 4 +

3

s+3 s+4
2
s+5
5.36 2.4
23
C0 = ; C1 = ; C2 =
28
2.5)
R (s ) s 3 Y (s)
1 s + 10 s+2
1
2
1
5.37 2.5
C0 = 1; C1 = ; C2 =
6

6.1
2 1)
2)

6.1.1
(On-off or Bang-bang Control)

6.1
r + e c

6.1
(Hysteresis Control)

(Band)
6.2
r + e c

6.2
(Pulse-Width-Modulation Control: PWM)

6.3
T
r + e c
PID PWM
D T D
6.3
6.1.2
(Proportional Control)

6.4
r + e c (t )
KP

c(t ) = K P e(t )
6.4
(Integral Control)

6.5
r + e KI c (t )
s
c(t ) = K I e(t )dt
6.5
6 127
(Derivative Control)

6.6
r + e c (t )
KPs

c (t ) = K P de (t ) / dt
6.6
(Proportional-Integral Control: PI
Control)

6.7
r + e 1 c (t )
K c 1 +
TI s
6.7
(Proportional-Derivative Control:
PD Control)

6.8
r + e c (t )
K c (1 + TD s )

6.8
(Proportional-
Integral Control: PID Control)

6.9
r + e 1 c (t )
K c 1 + + TD s
T I s
6.9
(Proportional-Integral Control: PI
Control)

6.10
r + KP + c (t )
KI +
s
6.10
(Proportional-Derivative Control:
PD Control)

6.11
r + KP + c (t )
+
KDs
6.11
6 129
(Proportional-
Integral Control: PID Control)

6.12
KP
r + KI +
+ c (t )
s +
KDs
6.12
6.2

3 1) 2)
3)

6.2.1

6.13
r + e c y
KP GP (s)

H ((ss)
e c KP
1
KP
6.13

0 (System type 0)

6.2.2

6.14
r + e KI c y
GP ((ss )
s
H (s)
e KI c KIt
1
s
6.14
0 (System
type 0)

6.2.3

6.15
6 131
r + e c y 1 0
KDs GP (s ) e c
KDs
K Dt
H (s ) KD
6.15

6.16
y(t) PI-Control
PID-Control
u(t)
P-Control for system type 0
PD-Control P-Control with K2, for 1st order

P-Control with K1, for 1st order
6.16
6.16

0

6.3
6.16

2
1) - (Ziegler-Nichols Compensation)
2) -- (Chien-Hrones-Reswick or CHR)
6.3.1

1)
2)
3)
(Undamped) 6.17 6.18
4) ( K c ) (T)
5)
6 133
+
Kc GP (s )

6.17
y (t )
T
6.18

KI
GC ( s ) = K P + + KDs
s
1
GC ( s ) = K P (1 + + Td s )
Ti s
KP
KI = , K D = K PTd
Ti
6.1
6.1
KP KI KD
P Control 0 .5 K c
PI Control 0.45 K c 0.45 K c / 0.83T
PID Control 0 .6 K c 0.6 K c / 0.5T 0.6 K c 0.125T
6.1
MATLAB

Scope1
64
11.25
Step s3+14s2+56s+64
Sum Scope2
Gai n T ransfer Fcn
6.19 MATLAB
11.25

T = 1.34 0.5 = 0.84

2.0
1.5
1.0
0.5
0.0
-0.5
0.0 0.5 1.0 1.5 2.0
6.20
T=0.84

K P = 0.6 11.25 = 6.75
K I = 6.75 /(0.5 0.9) = 15
K D = 6.75 0.125 0.9 = 0.76

6 135
MATLAB
6.21 6.22
6.75
Scope1
Kp
1 64
15
Step s s3+14s2+56s+64
Sum Ki Integrator Scope2
T ransfer Fcn
0.76 du/dt
Kd Derivative
6.21 MATLAB
2.0
1.5
1.0
0.5
0.0
-0.5
0.0 0.5 1.0 1.5 2.0 2.5
6.22

50%

6.2 Kc, T
6.1
+
Kc GP (s ) 64
G p (s) =
s + 14 s + 56 s + 64
3 2
6.23 6.2
K c G p ( s) 64
T (s) = =
1 + K c G p (s) s + 14s + 56s + 64(1 + K c )
3 2
s3 1 56
2
s 14 64(1 + K c )
s1 (1 / 14 )[ 784 64 (1 + K c )]
s0 64(1 + K c )
s1 Kc
(1 / 14)[784 64(1 + K c )] = 0
K c = 11.25
Kc s 2
14 s 2 + 784 = 0
s = j 7.483
T = 2 / 0
0
T = 2 / 7.483 = 0.8397
6 137
6.3.2

1)
6.24
2) K g
6.25
3)
Tu Tg
4) K g Tu Tg
GP ( s )
6.24
y (t )
Kg
Max. slope
Tu
t
Tg
6.25
Tu Tg R 6.2
6.2
Conroller , R = Tg / Tu
P Conroller R > 10
PI Conroller 7.5 < R < 10
PID Conroller 3 < R < 7.5
Higher Order R<3
6.2 R<3 Higher-

Order

K g Tu
Tg
KI
GC ( s ) = K P + + KDs
s
1
GC ( s ) = K P (1 + + Td s )
Ti s
KP
KI = , K D = K PTd
Ti
6.3
6.3
Conroller 20 % Overshoot Least Overshoot
P Conroller K P = 0 .7 R / K g K P = 0 .3 R / K g
PI Conroller K P = 0 .6 R / K g K P = 0.35 R / K g
K I = K P / Tg K I = K P / 1.2Tg
PID Conroller K P = 0.95 R / K g K P = 0.6 R / K g

K I = K P / 1.35Tg K I = K P / Tg
K D = K P 0.47Tu K D = K P 0.5Tu
6.3
20%

6 139
6.3
MATLAB

64
s3+14s2+56s+64
Step Scope
T ransfer Fcn
6.26 MATLAB
1.5
1.0
0.5
0.0
-0.5
0.0 0.5 1.0 1.5 2.0 2.5 3.0
0.2 1.3
Tu = 0.2, Tg = 1.3 0.2 = 1.1, R = 1.1 / 0.2 = 5.5
6.27
R = Tg / Tu = 1.1/ 0.2 = 5.5

20%
K P = 0.95 5.5 / 1 = 5.22
K I = 5.22 /(1.35 1.1) = 3.52
K D = 5.22 0.47 0.2 = 0.49


K P = 0.6 5.5 / 1 = 3.3
K I = 3 .3 / 1 .1 = 3
K D = 3.3 0.5 0.2 = 0.33
MATLAB
6.28 6.29 20%
6.30 6.31
5.22
Scope1
Kp
1 64
3.52
Step s s3+14s2+56s+64
T ransfer Fcn
0.49 du/dt
Kd Derivative
6.28 20%
2.0
1.5
1.0
0.5
0.0
-0.5
0.0 0.5 1.0 1.5 2.0 2.5
6.29 20%
6 141
3.3
Scope1
Kp
1 64
3
Step s s3+14s2+56s+64
T ransfer Fcn
0.33 du/dt
Kd Derivative
6.30
2.0
1.5
1.0
0.5
0.0
-0.5
0.0 0.5 1.0 1.5 2.0 2.5
6.31

20% 10%

1.5 Ziegler-Nichols
20% overshoot, CHR
Least overshoot, CHR
1.0
0.5
t
0
6.32
6.32

0

50%

6 143
6.4

1)
2)
3) (
)
3.1)
3.2)

4) ()
4.1)

4.2)

1)
MATLAB

6
1.1) GP ( s ) =
s 3 + 6s 2 + 11s + 6
12.5
1.2) GP ( s ) =
s + 13s + 31.25s + 12.5
3 2
5
1.3) GP ( s ) =
s + 7.5s + 13.5s + 5
3 2
1680
1.4) GP ( s ) =
s + 208.2 s + 1648.4 s + 1680
3 2
5000
1.5) GP ( s ) =
s + 115s + 1550s + 5000
3 2
7

7.1

7.1
R( s ) + Y ( s)
1
Kc
s ( s + 2)
7.1 7.1
1
G(s) =
s ( s + 2)
K c G(s) Kc
T (s) = = 2
1 + K c G ( s) s + 2s + K c
p( s) = s 2 + 2s + K c = 0

s1, 2 = 1 1 K c (7.1)
K c 0
7.2
s plane j
2 0
s2 , K c = 0 s1 , K c = 0
7. 2
s plane Kc j
s1

2 1 Kc = 1 0
s2
s2 , K c = 0 s1 , K c = 0
Kc
7. 3
K c > 1

4.3%
=0.707
= cos
7 147
= cos 1 0.707 = 45
s=-1+/-j
s plane Kc j
s1 = 1 + j
Kc = 2
s1 1
= 45
2 1 Kc = 1 0
s2
s2 , K c = 0 s1 , K c = 0
Kc = 2 s2 = 1 j
Kc
7. 4
7.1
j = 1 Kc ; Kc = 2
7.2
R(s) + + Y (s)
Kc
s ( s + 2)
0.2s
7. 5 7.2
R( s ) + Kc Y ( s)
s( s + (2 + 0.2 K c ))
7. 6
Kc
G ( s) =
s ( s + (2 + 0.2 K c ))
Kc
G ( s) s ( s + (2 + 0.2 K c )) Kc
T (s) = = = 2
1 + G ( s) 1 + Kc s + (2 + 0.2 K c ) s + K c
s ( s + (2 + 0.2 K c ))
p( s ) = s 2 + (2 + 0.2 K ) s + K c = 0

s1, 2 = (0.1K c + 1) (0.1K c + 1) 2 K c
(7.2)
K c 0

j
0
5
2
s2 , K c = 0 s1 , K c = 0
7. 7
s1
Kc s2
0
5
s1 2
K c 78.73 Kc = s2 , K c = 0 s1 , K c = 0
s2
K c 1.27
7. 8
7 149
K c > 1.27
K c > 78.73

7.8

= cos
s1
15
Kc s2 G
0
s1 5 A
2
K c 78.73 Kc = s2 , K c = 0 s1 , K c = 0
s2
K c 1.27
7. 9
AP AG 2 GP 2 25 15 10
op = cos = = = = = 0.632
AG AG 5 5
= cos 1 0.632 = 50.8
s1, 2 = 10 cos j 10 sin = 2 j 2.45
Kc 7.2
2 = 0.1K c + 1; K c = 10
7.2

R (s ) + Y (s )
G (s)

H (s )
7. 10
G(s)
T (s) =
1 + G ( s) H ( s)
1 + G ( s) H ( s) = 0 (7.3)
R( s) + Y (s)
G (s )

H (s )
7. 11

G ( s) H ( s)
m
K o ( s + zi )
G ( s) H ( s) = n
i =1
; m n, K o 0 (7.4)
(s + p )
j =1
j
K o (Open-loop gain)
7 151
7.3
7.4
()
m
K o ( s + zi )
G ( s) H ( s) = n
i =1
= 1 (7.5)
(s + p )
j =1
j
7.2.1
7.5
m
K o s + zi
G ( s) H ( s) = n
i =1
=1 (7.6)
s+ p
j =1
j
7.2.2
7.5
m n
G ( s ) H ( s ) = s + z i s + p j = 180(2q + 1); q = 1,2,K (7.7)
i =1 j =1
+ 180
+180
1
180
180
7. 12 180

K o
7.3 S0 S0
K o ?
s plane
j
s0 + p1
s0 p1
s0 + z1

z1 0
s0 + p2
p2
7. 13
1)
( s0 + z1 ) ( s0 + p1 ) ( s0 + p2 ) = 180(2q + 1); q = 1,2,K
S0
2) K o S0
K o s0 + z1
=1
s0 + p1 s0 + p2
7.4
K o ( s + b)
G ( s) H ( s) = ; Ko 0
( s + a1 )( s + a2 )
1)
j
b a2 a1 0
7. 14
7 153
2)
s = + j
K o ( + j + b)
G ( s) H ( s) =
( + j + a1 )( + j + a2 )

(2 + a1 + a2 )

1 + b ( + a1 )( + a2 )
2
G ( s ) H ( s ) = tan
1 + (2 + a1 + a2 )
+ b ( + a1 )( + a2 ) 2

7.7
( + b) 2 + 2 = (b a1 )(b a2 )
(-b,0)
(b a1 )(b a 2 )
b a2 a1 0
7. 15 7.4
7.5 7.4 a1=1, a2=2 b=5 Ko
5 2 1 0
7. 16
s1, 2 = 2.6 j 2.5
= 43.95 op = cos = 0.72
Ko
Length from P1 to S1,2 X Length from P2 to S1,2

Ko =
Length from Z1 to S1,2
2.6 2.9
=
3.45
2 .2
7 155
7.6
K o ( s + b)
G ( s) H ( s) = ; Ko 0
( s + + j )( s + j )
1)
j
b 0
j
7. 17
2)
s = + j
K o ( + j + b)
G ( s) H ( s) =
( + j + + j )( + j + j )
2 ( + )
2
1 + b + + 2 +
2 2 2
G ( s ) H ( s ) = tan
1 + 2 ( + )
+ b 2 + 2 + 2 2 + 2
7.7
( + b) 2 + 2 = ( b) 2 + 2
(-b,0)
( b) 2 + 2
b 0
j
7. 18 7.6
7.7 7.6 = 1, = 2 , b = 2 Ko
4.6%
4.6%
op = 0.7 = cos 1 0.7 45
2j

2 1 0
j 2
7. 19

s1, 2 = 1.65 j1.7
K o
Length from P1 to S1,2 X Length from P1 to S1,2
Ko =
Length from Z1 to S1,2
0.7 3.2
= 1.3
1.73
7 157
7.3

MATLAB
rlocus() rlocfind()

7.8 MATLAB
K o ( s + 5)
G ( s) H ( s) =
( s + 1)( s + 2)
MATLAB
>>rlocus(zpk([5],[12],1))
>>rlocfind(zpk([5],[12],1))
Root Locus
4
1
Imaginary Axis
-1
-2
-3
-4
-9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
7. 20 MATLAB
rlocfind()
Selectapointinthegraphicswindow
selected_point=
2.5912+2.4969i
ans=
2.1898
rlocus()
zpk([-5],[-1 -2],1)
K=1
K o
rlocfind() zpk([-5],[-1 -2],1)
K o
K o
7.9 MATLAB
K o ( s + 2)
G ( s) H ( s) =
( s + 1 + j 2 )( s + 1 j 2 )
MATLAB
>>rlocus(zpk([2],[1+sqrt(2)*i1sqrt(2)*i],1))
>>rlocfind(zpk([2],[1+sqrt(2)*i1sqrt(2)*i],1))
Root Locus
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
7. 21 MATLAB
rlocfind()
Selectapointinthegraphicswindow
selected_point=
1.6262+1.6832i
ans=
1.2491
7 159
7.4

8

MATLAB
8
MALAB 8
MALAB

MATLAB
8
1) " G(s)H(s)
K o 0
"
2) "

"
7.10 1)
2)
j
Ko = 0
Ko Ko =
0
Ko = 0
7. 22 1) 2)
3) "
( s = A )
"
A =
(real parts of GH poles) (real parts of GH zeros)
nm
""
(2q + 1)180
A = ; q = 0,1, K , (n m 1)
nm
4) "

"
7.11 3) 4)
3 1 j
A = = 1.33
3
A
3 1 0
A = 60,180,300
7. 23 3) 4)
5) ""
7.12 5)
K o ( s + 2)
G ( s) H ( s) =
( s + 1 + j 4)( s + 1 j 4)( s + 3)( s + 4)
7 161
1 + G ( s) H ( s) = 0
K o ( s + 2)
1+ =0
( s + 1 + j 4)( s + 1 j 4)( s + 3)( s + 4)
s 4 + 9s 3 + 43s 2 + (143 + K o ) s + (204 + 2 K o ) = 0
s4 1 43 204 + 2 K o
s3 9 143 + K o
244 K o 204 + 2 K o
s2
9
1 18368 61K o K o2
s
244 K o
s0 204 + 2 K o
s2 K o

K o
244 K o
>0 K o < 244
9
18368 61K o K o
2
>0 169.4 < K o < 108.4
244 K o
204 + 2 K o > 0 K o > 102
K o
K o = 108.4
K o s2
244 K o 2
s + (204 + 2 K o ) = 0
9
s = j 5.28
j
j 5.28
j4

4 3 2 1 0
7. 24
6) " p "
p = other GH pole angles + GH zero angles + 180
7.13 6)
j
p = 90 63 53 + 76 + 180
p
= 50
p 3 p 2 z1
4 3 2 1 0
p1
j4
7. 25
7 163
7) " z "
z = GH pole angles other GH zero angles 180
7.14 7)
j
z = 90 + 26.5 90 180 z
= 153.5 = 206.5
j
26.5
2 0
7. 26
8) " (breakaway point) "

dK o
=0
ds
"" n
(s + p )
j =1
j
Ko = m
(s + z )
i =1
i
""
m
K o ( s + zi )
1 + GH = 1 + n
i =1
=0
(s + p )
j =1
j
7.15 8)
j

3 2 1 0
7. 27 7.15
2
K o
s ( s + 1) A( s )
Ko = Ko = ; A( s ) = s ( s + 1); B( s ) = ( s + 2)( s + 3)
( s + 2)( s + 3) B( s)
s
dK o B ( s ) A( s ) A( s ) B( s )
= =0
ds B 2 ( s)
dK o
= A( s ) B( s ) B( s ) A( s ) = 0
ds
A( s ) = s ( s + 1) = s 2 + s A( s ) = 2s + 1
B ( s ) = ( s + 2)( s + 3) = s 2 + 5s + 6 B( s ) = 2s + 5
dK o
= A( s ) B( s ) A( s ) B( s ) = ( s 2 + s )(2s + 5) (2s + 1)( s 2 + 5s + 6) = 0
ds
4s 2 12 s 6 = 0
s = 0.634,2.366
j

3 2 1 0
-2.366 -0.634
7. 28
7 165
7.16
Ko
G ( s) H ( s) =
s ( s + 1)( s + 2)
1)
3 3
2)

3)

(2q + 1)180 (2q + 1)180

A = = ; q = 0,1,K, (n m 1) = 0,1,2
nm 3
A = 60,180,300
1 2
A = = 1;
3

2 1 0
7. 29
4)

2 1 0
7. 30
5)
p( s ) = s 3 + 3s 2 + 2s + K o
s3 1 2
s2 3 Ko
6 Ko
s1 0 Ko < 6
3
s0 Ko Ko > 0
K o K o = 6
s2
3s 2 + 6 = 0
s=j 2
j 2

2 1 0
j 2
7. 31
7 167
6)
7)

8)
K o
s ( s + 1)( s + 2) A( s )
Ko = Ko = ; A( s ) = s ( s + 1)( s + 2); B( s) = 1
1 B( s)
A( s ) = s ( s + 1)( s + 2) = s 3 + 3s 2 + 2 s A( s ) = 3s 2 + 6s + 2
B( s) = 1 B( s ) = 0
dK o
= A( s ) B( s ) A( s ) B( s ) = 3s 2 6s 2 = 0
ds
s = 0.4226,1.5774
s=-0.4226
s = 0.4226
j 2

2 1 0
0.4226
j 2
7. 32
8

MATLAB
>>rlocus(zpk([],[012],1))
Root Locus
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
7. 33 MATLAB
j 2

2 1 0
0.4226
j 2
7. 34

MATLAB
7 169
=0.5
= cos 1 0.5 = 60 MATLAB
= 60

s = 0.33 j 0.58 K o
K o = 1.04
7.17
Ko
G ( s) H ( s) =
s ( s + 3)( s 2 + 2s + 2)
1)
4 4
2)

3)

(2q + 1)180 (2q + 1)180
A = = ; q = 0,1,K, (n m 1) = 0,1,2,3
nm 4
A = 45,135,225,315
A = (3 1 1) / 4 = 1.25;

3 1
0
1.25
7. 35
4)

3 1
0
1.25
7. 36
5)
p ( s ) = s 4 + 5s 3 + 8s 2 + 6 s + K o
s4 1 8 Ko
s3 5 6
s2 34 / 5 Ko
s1
[(204 / 5) 5K o ] 0 K o < 8.16
34 / 5
s0 Ko Ko > 0
K o K o = 8.16
s2
6.8s 2 + 8.16 = 0
s = j1.1
j1.1

3 1
0
1.25
7. 37
7 171
6)
P = (135 + 90 + 26.6) + 180 = 71.6
j1.1
P
3 1
0
1.25
7. 38
7)

8)
K o
s ( s + 3)( s 2 + 2 s + 2) A( s )
Ko = Ko = ; A( s ) = s ( s + 3)( s 2 + 2 s + 2); B( s ) = 1
1 B( s )
A( s ) = s ( s + 3)( s 2 + 2s + 2) = s 4 + 5s 3 + 8s 2 + 6s A( s ) = 4s 3 + 15s 2 + 16s + 6
B( s) = 1 B( s ) = 0
dK o
= A( s ) B( s ) A( s ) B( s ) = 4s 3 15s 2 16s 6 = 0
ds
s = 0.7307 j 0.3486,2.2886
s=-2.2886
s = 2.2886
j1.1
2.2886
P
3 1
0
1.25
7. 39
8

MATLAB
rlocus(zpk([],[01+i1i3],1))
Root Locus
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
7. 40 MATLAB
7 173
j1.1
2.2886
P
3 1
0
1.25
7. 41

MATLAB
=0.5
= cos 1 0.5 = 60 MATLAB
= 60
s = 0.4 j 0.7
K o K o = 2.91
7.18
K o ( s + 1)
G ( s) H ( s) =
s 2 ( s + 9)
1)
3 3
2)
1 1 2
3)

(2q + 1)180 (2q + 1)180

A = = ; q = 0,1,K, (n m 1) = 0,1
nm 2
A = 90,270
A = (9 0 + 1) /(3 1) = 4;

9 4 1 0
7. 42
4)

9 4 1 0
7. 43
5)
3

6)
7 175
7)

8)
K o
s 2 ( s + 9) A( s )
Ko = Ko = ; A( s ) = s 2 ( s + 9); B( s ) = ( s + 1)
( s + 1) B( s)
A( s ) = s 2 ( s + 9) = s 3 + 9s 2 A( s ) = 3s 2 + 18s
B( s) = s + 1 B( s ) = 1
dK o
= A( s ) B( s ) A( s ) B( s ) = s 3 + 9s 2 3s 3 21s 2 18s = 0
ds
2s 3 12s 2 18s = 0
s = 0,3 3
s = 0,3

9 4 1 0
7. 44
8

MATLAB
rlocus(zpk([1],[009],1))
Root Locus
4
1
Imaginary Axis
-1
-2
-3
-4
-10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
7. 45 MATLAB

9 4 1 0
7. 46

MATLAB
7 177
7.19
Ko
G ( s) H ( s) =
s ( s + 2)( s 2 + 2 s + 5)
1)
4 4
2)

3)

(2q + 1)180 (2q + 1)180
A = = ; q = 0,1,K, (n m 1) = 0,1,2,3
nm 4
A = 45,135,225,315
A = (1 1 2) / 4 = 1;

2 1 0
j2
7. 47
4)

2 1 0
j2
7. 48
5)
p ( s) = s 4 + 4s 3 + 9s 2 + 10 s + K o
s4 1 9 Ko
s 3
4 10
s2 26 / 4 Ko
s1
[(260 / 4) 4 K o ] 0 K o < 16.25
26 / 4
s0 Ko Ko > 0
K o K o = 16.25
s2
6.5s 2 + 16.25 = 0
s = j1.58
j1.58
2 1 0
j2
7. 49
6)
P = (116.6 + 90 + 63.4) + 180 = 90

7 179
8)
K o
s ( s + 2)( s 2 + 2 s + 5) A( s )
Ko = Ko = ; A( s ) = s ( s + 2)( s 2 + 2 s + 5); B( s ) = 1
1 B( s)
A( s ) = s ( s + 2)( s 2 + 2 s + 5) = s 4 + 4s 3 + 9s 2 + 10s A( s ) = 4s 3 + 12s 2 + 18s + 10
B( s) = 1 B( s ) = 0
dK o
= A( s ) B( s ) A( s ) B( s ) = 4s 3 12s 2 18s 10 = 0
ds
s = 1,1 j1.22
j1.58
Breakaway

2 1 0
j2
7. 50
8

MATLAB
rlocus(zpk([],[021+2i12i],1))
Root Locus
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
7. 51 MATLAB
j1.58
Breakaway

2 1 0
j2
7. 52

MATLAB
7 181
7.5
5.1

0

5.1

(Uncompensated System)

(Compensated System)
7.5.1

1)
2)
3)
4)
7.53
R(s ) + Y (s )
Kc G p (s )

H (s )
7.53
7.5.2

7.54
R(s) + Y (s )
Kc Gc (s) G p (s)

H (s)
7.54
7.54
7.54
7.55
R(s) + Y (s)
Gc (s) G p (s )

H (s )
7.55

m
K c ( s + zi )
Gc ( s ) = n
i =1
(s + p )
j =1
j
7 183
7.6

7.20
Ko
G ( s) H ( s) =
s ( s + 1)( s + 5) (7.8)
5 2 1 0
7.56
=0.45
j
= 0.45
98
n=0.8

5 2 1 0
7.57
+/-5%
4 4
ts = = = 9.9 sec .
n 0.45 0.898
s=-1.5
j
5 2.25 1.5 1 0
Adding Zero push left
7.58

=0.45
= 0.45 j
5
n=4.8

5 2.25 1.5 1 0
7.59

+/-5%
4 4
ts = = = 1.7 sec .
n 0.45 4.85
Gc ( s ) = K c ( s + 1.5)
(PD Controller)
7 185
7.21 7.8 7.56

s=-1.5 s=-15
Adding Zero push left j

Adding Pole push right
15 6.5 5 1.5 1 0
Adding Pole & Zero

nearly imaginary axis
strongly the effect.
7.60

=0.45

= 0.45
j
3.4
n=
15 6.5 5 1.5 1 0
7.61
+/-5%
4 4
ts = = = 2.6 sec .
n 0.45 3.4
K c ( s + 1.5)
Gc ( s ) =
( s + 15)
(Cascade Lead Compensator)
7.22 7.8
=0.45 7.57
K o = 4.18
1
1
e ss =
Kv
Ko
K v = lim sG ( s ) H ( s ) = lim s = 0.898
s 0 s 0
s ( s + 1)( s + 5)
1
e ss = = 1.114
0.898
2

7.62
j
= 0.45
5 1 0
0.02 0.01
7.62
7 187
K c ( s + 0.01)
Gc ( s ) =
s
(PI Controller)
7.23 7.22

j
= 0.45
Put zero to the left of Pole.

5 1 0
0.104 0.05
0.005
7.63
1
K o = 4.1

K o ( s + 0.05)
K v = lim s = 8.02
s 0
s ( s + 0.005)( s + 1)( s + 5)
1 1
e ss = = = 0.125
K v 8.02

z/p -0.05/-0.005 10
K c ( s + 0.05)
Gc ( s ) =
( s + 0.005)
(Cascade Lag Compensator)

-
-
-

-

7.7

7.1
Compensator Transmittance Gc (s ) Transient Steady-State
P-Control or Kc Improved Improved

Uncompensated
PI-Control K c( s + z ) Improved Eliminate
s
PD-Control K c( s + z ) Greatly Improved
Improved
PID-Control a
K c 1 + + bs Greatly Greatly
s Improved Improved
Cascade Lag-Lead s + z1 s + z2 Greatly Greatly
K c lead lag
s + p1 s + p2 Improved Improved
Cascade Lead K c( s + z )
; z< p
Greatly Improved
(s + p) Improved
Cascade Lag K c( s + z )
; p<z Improved Greatly
( s + p) Improved
7.1 2

7 189
7.7.1

7.64
line
j
sd

p 0
z
7.64
R (s) + Y (s)
G c (s ) G p ((ss )

H (s )
7.65
K c (s + z)
Gc ( s ) = ; z< p
( s + p)
p/z 10
(Double Lead Compensator)
1) 7.66
= cos
Dominant complex poles j

0
n
7.66
2)

3)

4) "

180"

5)

6)
7) K o

8)

MATLAB

7 191
7.24
20% +/-5% 4
R(s) + Y (s)
1
Gc (s)
s2
7.67 7.24
1)
20%
M p = e 1 2
= 0.2; 0.45
+/-5% 4
3
ts
n
3
4
n
n 1

s d = n j n 1 2
s d = 1 j 2
2)
= 0.45 j
sd
j2
3.6 1 0
7.68
3-4)

G p ( sd ) = (116 + 116) = 232
180
+ G p ( sd ) = 180
232 = 180
= 52
5-6) 52
7.69
= 0.45
j
sd
j2
52

3.6 1 0
7.69
7)
3.6 p/z 3.6/1

K o = 8.1
( K c = K o )
8.1( s + 1)
Gc ( s ) =
( s + 3.6)
8) MATLAB

7 193
7.25 =0.5
n=4 rad/sec.
R (s) + Y (s )
1
Gc (s)
s(s + 2)
7.70 7.25
1)

s d = n j n 1 2
s d = 2 j 3.46
2) 7.71
= 0. 5 j
sd
j 3.46
2 0
7.71
3-4)

G p ( sd ) = (90 + 120) = 210
180
+ G p ( sd ) = 180
210 = 180
= 30
5-6)
30
7.72
= 0.5 j
sd
j 3.46
30

5 .4 2 .9 2 0
7.72
7) K o = 18.7
( K c = K o )
18.7( s + 2.9)
Gc ( s ) =
( s + 5.4)
8) MATLAB

7.26
25% +/-5% 5
R (s ) + Y (s )
1
Gc (s)
s ( s + 1 .5 )
2
7.73 7.26
7 195
1)
20%
M p = e 1 2
= 0.2
0.45
+/-5% 4
3
ts
n
3
4
n
n 1

s d = n j n 1 2
s d = 1 j 2
2) 7.74
= 0.45 j
sd j2

1 0
1.5
7.74
3-4)

G p ( sd ) = (2 116 + 75) = 307

180
+ G p ( sd ) = 180
307 = 180
= 127
10
2 (Double Compensator)

= 63.5 2
5-6)
s=-1.5
63.5
=127
7.75
= 0.45 j
sd j2
63.5

1 0
10 1.5
7.75
7) K o = 247
( K c = K o )
247( s + 1.5) 2
Gc ( s ) =
( s + 10) 2
8) MATLAB

7 197
7.7.2

7.76
line
dominant complex poles j
sd
n

< 5
z p 0
n
7.76
R (s) + Y (s)
G c (s ) G p (s )

H (s )
7.77
K c (s + z)
Gc ( s ) = ; p<z
( s + p)

p/z
essu z
essc ; = ;
p
essu : before; essc : after
1)

2) . K o

3)

4) 10 -line
5) 5
z/p
6) MATLAB

7.27
=0.707 +/-5% 5
0.25
R (s ) + Y (s )
1
Gc (s)
s ( s + 2)
7.78 7.27
7 199
1) 1
1

7.79
= 0.707
sd j
n = 2

2 0
1 0.02
7.79
-line
n=1.414
4 4
ts = = = 4 sec .
n 0.707 + 2
2) . Ko = 2
1
essu =
Kv
K v = lim sG ( s ) H ( s )
s 0
2s
= lim =1
s 0 s ( s + 2)
1
essu = = 1
1
3)
essu 1
= c = =4 5
ess 0.25
4-5) s=-0.1 10
s=-0.1/ =-0.02

= 0.707
sd sd j
uncompensated

2 0
0.1
1 0.02
7.80
(Kc = Ko )
2( s + 0.1)
Gc ( s ) =
( s + 0.02)
6) 5
MATLAB

7 201
7.7.3

s + z1 s + z2
Gc ( s ) = K c lead lag
s + p1 s + p2
1)

2)

3) MATLAB

7.28
=0.5 n=5 rad./sec.
0.0125
R (s ) + Y (s )
4
G c (s )
s ( s + 0 .5 )
7.81 7.28
1)

s d = n j n 1 2
s d = 2.5 j 4.33
7.82
= 0.5 j
sd j 4.33

2 .5 0
0.5
0.25
7.82

G p ( sd ) = (120 + 115) = 235
180
+ G p ( sd ) = 180
235 = 180
= 55
s=-0.5 55
s=-5
7.83
7 203
= 0.5 j
sd j 4.33
55

5 2.5 0
0.5
0.25
7.83
2)
K o = 25
1 1

1
essu =
Kv
K v = lim sG ( s ) H ( s )
s 0
25s ( s + 0.5)
= lim =5
s 0 s ( s + 0.5)( s + 5)
1
essu = = 0.2
5

essu 0.2
= c = = 16
ess 0.0125
s=-0.2 10
s=-0.2/ =-0.0125
16

25 ( s + 0.5) ( s + 0.2)
Gc ( s ) =
4 ( s + 5) ( s + 0.0125)
4 4
25 ( K o = 25 = K c K plant = 25 4)
4
3) MATLAB
7 205
1) G(s)H(s) MATLAB
K o

0.8 K o
1.1) G(s) H (s) =
(3s + 1)(30 s + 1)(10 s + 1)
Ko =0.707
Ko
1.2) G ( s) H ( s) =
s( s + 8s + 32)
2
Ko =0.5
K o ( s + 2)( s + 3)
1.3) G(s) H (s) =
s ( s + 1)
Ko
K o ( s + 4)
1.4) G ( s) H ( s) =
( s + 2)( s 1)
Ko =0.707
K o ( s + 3)
1.5) G(s) H (s) =
s( s + 2)
Ko
2) G(s)H(s) 1) 8
MATLAB K o

3)

1
3.1) G(s) =
s( s + 1)( s + 5)
20%
+/-5% 3
s=-1
3.2) G ( s) =
4
s ( s + 2)
=0.45
0.05
3.3) G(s) =
1
s ( s + 1)
=0.707 +/-
5% 1.4
1
3.4) G(s) =
s ( s + 1)( s + 2)
0.2
3.5) G ( s) =
1
s ( s + 10)( s + 20)
=0.6
10
8

8.1

s j
T ( s ) = T ( j )

8.1
R (s ) Y (s )
T (s )
r (t ) T (s )
y (t )
t T ( j )
Transient Steady-state T ( j ) T ( j )
8.1

2 8.2
T ( j ) in dB T ( j )in
Amplitude Plot Phase Plot
10 2 10 1 100 101 10 2 103 10 4 105 106

10 2 10 1 100 101 10 2 103 10 4 105 106

8.2

2
1) (Amplitude Plot)
2) (Phase Plot)

8.2

(s) ( j )

K ( s + z1 )( s + z 2 ) K ( s + z m )
T (s) =
( s + p1 )( s + p2 ) K ( s + pn )
4
4
3
1
K (1 + s 1 )(1 + s 2 ) K
=
s (1 + sa )(1 + sb) K (1 + (2 / n ) s + s 2 / n2 )
N
2
3 4
8 209
4
1) K
2) s M , 1/ s N
3) (1 + s 1 )(1 + s 2 )K, (1 + sa)(1 + sb)K
4) 1 + (2 / n ) s + s 2 / n2
(s) ( j )
KZ1 ( j ) Z 2 ( j ) K Z m ( j )
T ( s = j ) =
P1 ( j ) P1 ( j ) K Pn ( j )
dB
T ( j ) in dB = 20 log10 T ( j )
= 20 log10 K + 20 log10 Z1 ( j ) + 20 log10 Z 2 ( j ) + K +
20 log10 Z m ( j ) 20 log10 P1 ( j ) 20 log10 P2 ( j ) K
20 log10 Pn ( j )
(s) ( j )
K (1 + j / 1 )(1 + j / 2 ) K
T ( s = j ) =
( j ) N (1 + j / a)(1 + j / b) K
T ( j ) in = 0 + tan 1 ( 1 ) + tan 1 ( 2 ) + K
N 90 tan 1 (2n /( n2 2 )) K
tan 1 (2n /(n2 2 )) K

4
8.2.1

G ( s) = K G ( j ) = K
G ( j ) in dB = 20 log10 K
G ( j ) in = K = 0 or 180
0
180
8.1
K = 10
20 log10 10 = 20
8.3
Amplitude Plot (dB) Phase Plot ()

40 180
20 90 if K is positive.
0 0
20 log10 K , K = 10
20 90 if K is negative.
40 180
60 270
0.01 0. 1 1 10 100 1,000 0.01 0.1 1 10 100 1,000
8.3 8.1
8 211
8.2.2
1)
G(s) = s G ( j ) = j
G ( j ) in dB = 20 log10
20db/decade
1 rad./sec. 0 dB
Amplitude Plot (dB)

40
20
0
20
40
60
0.01 0 .1 1 10 100 1,000
8.4
G ( j ) in = j = 90
90
Phase Plot ()
270
180
90
0
90
180
0.01 0.1 1 10 100 1,000
8.5
2)
G ( j ) = ( j )
M
G ( s) = s M
G ( j ) in dB = M 20 log10
M20db/decade
1 rad./sec. 0 dB M=2
8.6
Amplitude Plot (dB)

40
20
0
M =2
20
40
60
0.01 0.1 1 10 100 1,000
8.6
G ( j ) in = j + j + ... = 90 + 90 + ... = M 90
M90
M=2 8.7
Phase Plot ()
270
180
90
M =2
0
90
180
0.01 0.1 1 10 100 1,000
8.7
8 213
3)
1 1
G ( s) = G ( j ) =
s j
G ( j ) in dB = 20 log10
-20db/decade
1 rad./sec. 0 dB 8.8
Amplitude Plot (dB)

40
20
0
20
40
60
0.01 0.1 1 10 100 1,000
8.8
G ( j ) in = ( j ) = 90
1
-90
8.9
Phase Plot ()
180
90
0
90
180
270
0.01 0. 1 1 10 100 1,000
8.9
4)
G ( j ) = ( j )
1 N
G ( s) =
sN
G ( j ) in dB = N 20 log10
-N20db/decade
1 rad./sec. 0 dB N=2
8.10
Amplitude Plot (dB)

40
20
N =2
0
20
40
60
0.01 0.1 1 10 100 1,000
8.10
G ( j ) in = ( j ) + ( j ) + ... = 90 90 ... = N 90
1 1
N-90
N=2 8.11
Phase Plot ()
180
90
0
N =2
90
180
270
0.01 0.1 1 10 100 1,000
8.11
8 215
8.2.3
1)
s+a j + a
G ( s) = G ( j ) =
a a
G ( s = j ) = 1 +
a
2
G ( j ) in dB = 10 log10 1 +
a
a
G ( j ) in dB = 10 log10 10 0 = 0
a
G ( j ) in dB = 20 log10 / a
0 dB
a 20db/decade
a a
(Corner or break frequency)
(Straight-line Approximation)
8.12
Amplitude Plot (dB)

60 Slope = 20 dB/decade
40
Actual
20
Straight-line
0 Approximation
20
0.01a 0.1a a 10a 100a 1,000a
Corner or break frequency
8.12
j + a 1
G ( s = j ) = tan 1 = tan
a a
a
G ( s = j ) = tan 1 0 = 0
a

G ( s = j ) = tan 1 = tan 1 = 90
a

G ( s = j ) = tan 1 1
= tan = 90
a
a

a
G ( s = j ) = tan 1 = tan 1 1 = 45
a

a
G ( s = j ) = tan 1 1
= tan 1 = 45
a
0
a a
45 -45
a
a 90
-90
8.13
8 217
Phase Plot ()
135
LHP Zero. 90 Actual
s+a
G(s) = 45 Slope = 45/decade
a 0
Straight-line
Approximation
45
45
RHP Zero. Straight-line
0 Approximation
sa
G ( s) = 45 Slope = -45/decade
a 90
Actual
135
0.01a 0.1a a 10a 100a 1,000a
break frequency
8.13
8.2
s + 10
G(s) =
10
10 8.14
Amplitude Plot (dB)
60
40
20
0
20
0.1 1 10 100 1,000 10,000
8.14 8.2
10 8.15
Phase Plot ()
135
90
45
0
45
0.1 1 10 100 1,000 10,000
8.15 8.2
2)
b b
G ( s) = G ( j ) =
s+b j + b
1

2

G ( s = j ) = 1 +
b

2
G ( j ) in dB = 10 log10 1 +
b
b
G ( j ) in dB = 10 log10 10 0 = 0
b
G ( j ) in dB = 20 log10 / b
0 dB
b -20db/decade
b b
8.16
Amplitude Plot (dB)

20
Straight-line Slope = -20 dB/decade
0 Approximation
20
Actual
40
60
0.01b 0.1b b 10b 100b 1,000b
Corner or break frequency
8.16
8 219
b
G ( s = j ) = tan 1 = tan 1
j + b b
b
G ( s = j ) = tan 1 0 = 0
b

G ( s = j ) = tan 1 = tan 1 = 90
b

G ( s = j ) = tan 1 1
= tan = 90
b
b

b
G ( s = j ) = tan 1 = tan 1 1 = 45
b

b
G ( s = j ) = tan 1 1
= tan 1 = 45
b
0
b b
-45 45
b
b -90
90
8.17
Phase Plot ()
45
LHP Pole. Straight-line
0 Approximation
b
G(s) = 45 Slope = -45/decade
s+b 90
Actual
135
135
RHP Pole. 90 Actual
b
G ( s) =
s b
45
Straight-line
Slope = 45/decade
0 Approximation
45
0.01b 0.1b b 10b 100b 1,000b
break frequency
8.17
8.3
10
G ( s) =
s 10
10 8.18
Amplitude Plot (dB)
20
0
20
40
60
0. 1 1 10 100 1,000 10,000
8.18 8.3
10 8.19
Phase Plot ()
135
90
45
0
45
0.1 1 10 100 1,000 10,000
8.19 8.3
8 221
8.2.4
s 2 + 2 n s + n2
G ( s) =
n2
n2
G ( s) =
s 2 + 2 n s + n2
1
=1
=1

(s) ( j )
n2
G ( s = j ) =
( j ) 2 + 2 n ( j ) + n2
n2
G ( j ) =
( 2
n 2 ) + (2 n )
2 2
8.20
Amplitude Plot (dB)
40
= 0.1
20
= 0.3
0
= 0.7
20 = 0.9
40 Approx.
60
0.01n 0.1n n 10n 100n
8.20
8.20
0<<1
n

2
G ( j ) = tan 1 2 n 2
n
8.21
Phase Plot ()
90
= 0. 1
0 = 0.5
90 = 0. 9
Approx.
180
270
0.01n 0.1n n 10n 100n
8.21
8.21
0<<1
n

(Correctional curves) 8.22
Amplitude (dB) = 0. 1
0.15
12
0.20
0.25
6
0.4
0 0.6
0.8
6 1 .0
Phase ()
60 0.1
0.2
30 0.4
0.6
0
0.8 1.0
30
60
0.01 0.1 1 10 100

n
8.22
8 223
1) n
2)

=1 n
3) (Correctional
curves)
Amplitude plot (dB)
LHP Complex poles = Approximation of Double Real Pole + Correctional Amplitude
RHP Complex poles = Approximation of Double Real Pole + Correctional Amplitude
LHP Complex Zeros = Approximation of Double Real Zero - Correctional Amplitude
RHP Complex Zeros = Approximation of Double Real Zero - Correctional Amplitude
Phase plot ()
LHP Complex poles = Approximation of Double Real Pole + Correctional Phase
RHP Complex poles = Approximation of Double Real Pole - Correctional Phase
LHP Complex Zeros = Approximation of Double Real Zero - Correctional Phase
RHP Complex Zeros = Approximation of Double Real Zero + Correctional Phase
8.23
LHP Complex Conjugate Poles. LHP Complex Conjugate Zeros.
20 60
0 40
20 20
40 0
60 20
90 270
0 180
90 90
180 0
270 90
0.01n 0.1n n 10n 100n 0.01n 0.1n n 10n 100n
RHP Complex Conjugate Poles. RHP Complex Conjugate Zeros.

20 60
0 40
20 20
40 0
60 20
270 90
180 0
90 90
0 180
90 270
0.01n 0.1n n 10n 100n 0.01n 0.1n n 10n 100n
8.23
8.4
100
G(s) =
s + 2 s + 100
2
n = 100 = 10
2 n = 2 = 0.1
8.24
LHP Complex Conjugate Poles.
20
0 Actual
20
40 Approx.
60
90
0 Actual
90
180
Approx.
270
0.1 1 10 100 1,000
8.24 8.4
8.3

8.5
50( s + 2)
T (s) =
s ( s + 10)
1 s + 2 10
T ( s ) = 10
s 2 s + 10
8 225
10 20 log10 10 = 20dB 0

40 180
20 90
0
20 0
40 90
60 180
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.25
1/s
40 180
20 90
0
20 0
40 90
60 180
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.26
(s+2)/2
40 180
20 90
0
20 0
40 90
60 180
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.27
10/(s+10)
40 180
20 90
0
20 0
40 90
60 180
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.28
8.29
40 10
20 s+2 10
0 2 s + 10
20
40
1
s
60
60 Approx.
40
20
0
20
40 Actual
0.01 0.1 1 10 100
8.29
180
s+2
90 2 10 10
0 s + 10
90
180 1/ s
45
Actual
60 Approx.
75
90
0.01 0.1 1 10 100
8.30
8.6
s2 + s + 8
T (s) =
s2
s2 + s + 8
2
1
T ( s ) = 8
s 8
8 20 log10 8 = 18.06dB 0
Phase Plot ()
Amplitude Plot (dB)
60 180
40 90
20 0
0 90
20 180
40
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.31
8 227
1/s2
Phase Plot ()
Amplitude Plot (dB)
60 180
40 90
20 0
0 90
20 180
40
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.32
(s2+s+8)/8
n=2.83 =0.177
Phase Plot ()
Amplitude Plot (dB)
60 180
40 90
20 0
0 90
20 180
40
0.01 0.1 1 10 100 0.01 0.1 1 10 100
8.33
8.34

60 s2 + s + 8
s2 + s + 8 180
40 8 90
8
8
20 0
0 8
20 1 90 1/ s 2
40 s2 180
60 Approx. 90
40 0 Approx.
20
0 90
20 Actual 180 Actual
40 270
0.01 0.1 1 2.83 10 100 0.01 0.1 1 2.83 10 100
8.34
8.4

MATLAB bode()
tf() zpk()
8.2
s + 10
G(s) =
10
MATLAB
>>bode(zpk([10],[],0.1))
MATLAB 8.35
Bode Diagram
60
40
Magnitude (dB)
20
-20
135
90
Phase (deg)
45
-45
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)
8.35 MATLAB
8.2 8.36
60 135
40 90
20 45
0 0
20 45
0.1 1 10 100 1,000 10,000 0 .1 1 10 100 1,000 10,000
8.36 8.2
8 229
8.4
100
G(s) =
s + 2 s + 100
2
MATLAB
>>bode(tf([100],[12100]))
MATLAB

Bode Diagram
20
0
Magnitude (dB)
-20
-40
-60
90
0
Phase (deg)
-90
-180
-270
0 1 2 3 4
10 10 10 10 10
Frequency (rad/sec)
8.37 MATLAB
LHP Complex Conjugate Poles.

20
0 Actual
20
40 Approx.
60
90
0 Actual
90
180
Approx.
270
0.1 1 10 100 1,000
8.38 8.4
8.5
50( s + 2)
T (s) =
s ( s + 10)
MATLAB
>>bode(zpk([2],[010],50))
MATLAB

Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
-50
-60
Phase (deg)
-70
-80
-90
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
8.39 MATLAB
60 Approx.
40
20
0
20
40 Actual
45
Actual
60 Approx.
75
90
0.01 0.1 1 10 100
8.40 8.5
8 231
8.6
s2 + s + 8
T (s) =
s2
MATLAB
>>bode(tf([118],[100]))
MATLAB

Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
90
0
Phase (deg)
-90
-180
-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
8.41 MATLAB
60 Approx.
40
20
0
20 Actual
40
90
0 Approx.
90
180 Actual
270
0.01 0.1 1 2. 83 10 100
8.42 8.6
8.5

1)

8.1
Gain(dB) Phase shift

60 377 -7.74 -155
50 314 -4.3 -150
40 251 -0.2 -145
35 219 0.75 -140
25 157 5.16 -135
20 126 7.97 -120
16 100 10.5 -110
10 63 15.0 -100
7 44 16.9 -85
2.5 16 20.4 -45
1.3 8 21.6 -30
0.22 1.38 24.0 -5
0.16 1.0 24.1 0
8 233

Bode Diagram
30
20
Magnitude (dB) 10
-10
-20
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
8.43
Bode Diagram
30
20dB / decade
20
Magnitude (dB)
10
-10
40dB / decade
-20
0
150
-45
45 / decade 45 / decade
Phase (deg)
-90
90 / decade
-135
15
-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
8.44

15 150 36000
T ( s ) = 16 = 2
s + 15 s + 150 s + 165s + 2250
2) (Irrational Transfer Function)

s3 + s + 1
T (s) = , T (s) = s , T ( s ) = cos s, T ( s ) = e s
s +1

T (s) = s
T ( j ) dB = 10 log10
T ( j ) = 45
8.2
0.1 1 10 100 1000 1000
-10 0 10 20 30 40
45 45 45 45 45 45
30
20
10
0
10
135
90
45
0
45
0 .1 1 10 100 1,000
8.45
8 235
1)
MATLAB
s 2 4s + 30
1.1) T ( s) =
( s + 10) 2
4s 1
1.2) T (s) =
s + 20 s + 100
2
s ( s + 10)
1.3) T (s) =
s 2 10 s + 100
1.4) s
T (s) =
( s + s + 4) 2
2
s 2 s + 10
1.5) T ( s) =
3s 2
9

9.1

2

9.1

T (s ) Stable ?
9.1

K cG ( s)
T ( s) =
1 + K cG ( s) H ( s)
G(s)H(s)
(s) ( j )
K c = 1 2
1) (RHP Boundary)

2)

9.2

1)
9.2
Im s s plane
R=
Re s
9.2

6
ie., G ( s ) H ( s ) =
( s + 1)( s + 2)
2)
9.3
Im s s plane
r = 0+
Re s
9.3
9 239

6
ie., G ( s ) H ( s ) =
s ( s + 2)
3)
9.4
Im s s plane
Re s
9.4

6
ie., G ( s ) H ( s ) =
( s + j )( s j )
9.3

9.1

6
G ( s) H ( s) =
( s + 1)( s + 2)
9.5
RHP Boundary
Im s
b, =
c, =
d , =
a, = 0 Re s
s plane
9.5 9.1
a b
6
G ( j ) H ( j ) =
( j + 1)( j + 2)
6
G ( j ) H ( j ) =
2 +1 2 + 4
G ( j ) H ( j ) = tan 1 ( ) tan 1 ( / 2)
9.1
9.1 a b
0 0.5 1 1.5 2 10
3 2.6 1.89 1.33 0.95 0.06 0
0 -41 -72 -93 -108 -163 -180
9 241
b c d
9.6
G ( s ) H ( s ) plane
Im G ( s ) H ( s )
3 a, = 0
b, c, d Re G ( s ) H ( s )
=
Nyquist plot
9.6 a d
9.6
d
a
9.7
Im G ( s ) H ( s )
3 a, = 0
b, c , d Re G ( s ) H ( s )
=
Nyquist plot
9.7 9.1
9.2

6
G ( s) H ( s) =
s ( s + 2)
9.8
Im s RHP Boundary
c =
b
r = 0+ d
a Re s
s plane
9.8 9.2
a b
6
G ( j ) H ( j ) R
(r )(2)
r
0 90
R
0 -90 9.9
Im G ( s ) H ( s )
+
R a, = 0
Re G ( s ) H ( s )
b, = 0 + Nyquist plot
9.9 a b
9 243
9.9

b c
6
G ( j ) H ( j ) =
j ( j + 2)
6
G ( j ) H ( j ) =
2 + 4
G ( j ) H ( j ) = 90 tan 1 ( / 2)
9.2
9.2 b c
0 0.5 1 1.5 2 10
5.82 2.68 1.60 1.06 0.06 0
-90 -104 -117 -127 -135 -169 -180
c d
9.10
Im G ( s ) H ( s )
+
R a, = 0
c, d Re G ( s ) H ( s )
=
9.10 a d
d a

9.11
Im G ( s ) H ( s )
+
R a, = 0
c, d Re G ( s ) H ( s )
=
9.11 9.2
9.3

6
G ( s) H ( s) =
s ( s + 2)
2
9.12
Im s RHP Boundary
c =
b
r = 0+ d
a Re s
s plane
9.12 9.3
a b
6
G ( j ) H ( j ) R 2
(r ) 2 (2)
9 245
r
0 90
R
0 -180 9.13
Im G ( s ) H ( s )
= 0+ +
b R a, = 0
1
Re G ( s ) H ( s )
Nyquist plot
9.13 a b
9.13

b c
6
G ( j ) H ( j ) =
( j ) ( j + 2)
2
6
G ( j ) H ( j ) =
2 2 + 4
G ( j ) H ( j ) = 180 tan 1 ( / 2)
9.3
9.3 b c
0 0.5 1 1.5 2 10
11.6 2.68 1.07 0.53 0.006 0
-180 -194 -207 -217 -225 -259 -270
c d
9.14
Im G ( s ) H ( s )
= 0+ +
b c, d R a, = 0
1 = Re G ( s ) H ( s )
Nyquist plot
9.14 a d
d a

9.15
Im G ( s ) H ( s )
= 0+ +
b c, d R a, = 0
1 = Re G ( s ) H ( s )
Nyquist plot
9.15 9.3
9 247
9.4

4
G ( s) H ( s) =
s ( s + 1)( s + 2)
9.16
Im s RHP Boundary
c =
b
r = 0+ d
a Re s
s plane
9.16 9.4
a b
4
G ( j ) H ( j ) R
(r )(2)
r
0 90
R
0 -90 9.17
Im G ( s ) H ( s )
+
R a, = 0
Re G ( s ) H ( s )
9.17 a b
9.17

b c
4
G ( j ) H ( j ) =
j ( j + 1)( j + 2)
4
G ( j ) H ( j ) =
+1 2 + 4
2
G ( j ) H ( j ) = 90 tan 1 ( ) tan 1 ( / 2)
9.4
9.4 b c
0 0.5 1 1.414 1.5 2 10
3.47 1.26 0.67 0.59 0.31 0.004 0
-90 -131 -162 -180 -183 -198 -253 -270
c d
9.18
Im G ( s ) H ( s )
+
R a, = 0
1 c, d Re G ( s ) H ( s )
=
9.18 b d
9 249
d a

9.19
Im G ( s ) H ( s )
+
R a, = 0
1 c, d Re G ( s ) H ( s )
=
9.19 9.4
9.4

MATLAB

MATLAB
MATLAB nyquist()
tf() zpk()
9.5
6
G ( s) H ( s) =
( s + 1)( s + 2)
MATLAB
>>nyquist(zpk([],[12],6))
MATLAB
Nyquist Diagram
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-1 -0.5 0 0.5 1 1.5 2 2.5 3
Real Axis
9.20 MATLAB
9.1
Im G ( s ) H ( s )
3 a, = 0
b, c, d Re G ( s ) H ( s )
=
Nyquist plot
9.21 9.1

MATLAB

9 251
9.6
6
G ( s) H ( s) =
s ( s + 2)
MATLAB
>>nyquist(zpk([],[02],6))
MATLAB
Nyquist Diagram
25
20
15
10
1
5
Imaginary Axis
-5
-10
-15
-20
-25
-1.5 -1 -0.5 0
Real Axis
9.22 MATLAB
9.2
Im G ( s ) H ( s )
+
R a, = 0
c, d Re G ( s ) H ( s )
=
9.23 9.2

MATLAB
-1

9.24
MATLAB
nyquist(zpk([],[0 -2],6)) Nyquist plot
Nyquist Diagram
25
20
Im G ( s ) H ( s )
15
10
5
1
Imaginary Axis
0
R
-5 Re G ( s ) H ( s )
-10
-15
-20
-25
-1.5 -1 -0.5 0
Real Axis
9.24 MATLAB
9.7
6
G ( s) H ( s) =
s ( s + 2)
2
MATLAB
>>nyquist(zpk([],[002],6))
MATLAB
Nyquist Diagram
15
10
1
Imaginary Axis
-5
-10
-15
-200 -180 -160 -140 -120 -100 -80 -60 -40 -20 0
Real Axis
9.25 MATLAB
9 253
9.3
Im G ( s ) H ( s )
= 0+ +
b c, d R a, = 0
1 = Re G ( s ) H ( s )
Nyquist plot
9.26 9.3

MATLAB
-1

9.27
MATLAB
nyquist(zpk([],[0 0 -2],6)) Nyquist plot
Nyquist Diagram
15
Im G ( s ) H ( s )
10
R
Imaginary Axis
0 1
1
Re G ( s ) H ( s )
-5
-10
-15
-200 -180 -160 -140 -120 -100 -80 -60 -40 -20 0
Real Axis
9.27 MATLAB
9.8
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
MATLAB
>>nyquist(zpk([],[012],4))
MATLAB
Nyquist Diagram
40
30
20
10
1
Imaginary Axis
-10
-20
-30
-40
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
9.28 MATLAB
9.4
Im G ( s ) H ( s )
+
R a, = 0
1 c, d Re G ( s ) H ( s )
=
9.29 9.4
9 255

MATLAB
-1

9.30
MATLAB
nyquist(zpk([],[0 -1 -2],4)) Nyquist plot
Nyquist Diagram
40
Im G ( s ) H ( s )
30
20
10
1
Imaginary Axis
0
R
1 Re G ( s ) H ( s )
-10
-20
-30
-40
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
9.30 MATLAB
9.5

2
-1

9.1
RHP Poles of T(s) = RHP Poles of G(s)H(s) +

-1
(9.1)
(Clockwise encirclement:CW)
(Counterclockwise encirclement:CCW) -1 9.31
Nyquist plot Im G ( s ) H ( s )
1 CW CW
Re G ( s ) H ( s )
CCW
9.31 -1
9.9 9.1
6
G ( s) H ( s) =
( s + 1)( s + 2)
Nyquist plot
Im G ( s ) H ( s )
3
1 Re G ( s ) H ( s )
9.32
-1 9.1
RHP Poles of T(s) = 0 + 0 = 0
9 257
9.10 9.2
6
G ( s) H ( s) =
s ( s + 2)

Nyquist plot
Im G ( s ) H ( s )
R
1 Re G ( s ) H ( s )
9.33
-1 9.1
9.11 9.3
6
G ( s) H ( s) =
s ( s + 2)
2
Nyquist plot
Im G ( s ) H ( s )
R
1
Re G ( s ) H ( s )
9.34
-1 2 9.1
9.12 9.4
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
Nyquist plot
Im G ( s ) H ( s )
R
1 Re G ( s ) H ( s )
9.35
-1 9.1
9.13
2( s + 3)
G ( s) H ( s) =
( s + 2) 2 ( s 1)
Nyquist plot
Im G ( s ) H ( s )
a
=0 1 b, c , d
Re G ( s ) H ( s )
=
CCW
9.36
9 259
-1
-1 9.1
RHP Poles of T(s) = 1 + (-1) = 0
9.9 9.12 9.13

9.9 9.12
9.13
""(minimum phase)
""(non-minimum phase)

-1

9.6
K c = 1

2
1) Kc > 1 9.37
Nyquist plot
Im G ( s ) H ( s )
Kc = 1
1 Re G ( s ) H ( s )
Kc > 1
9.37 Kc > 1
2) K c < 1 9.38
Nyquist plot
Im G ( s ) H ( s )
Kc = 1
1 Re G ( s ) H ( s )
Kc < 1
9.38 Kc < 1
9.14 9.1
Im G ( s ) H ( s )
3
1
Re G ( s ) H ( s )
9.39 9.1
9.39 1
-1
1 -1
K c 0
9 261
9.15 9.2
Im G ( s ) H ( s )
R
1
Re G ( s ) H ( s )
9.40 9.2
9.40 1
-1
1 -1
K c 0
9.16 9.3
Im G ( s ) H ( s )
R
1
Re G ( s ) H ( s )
9.41 9.3
9.41 1
-1 2 1
K c = 0
K c > 0
9.17 9.4
Im G ( s ) H ( s )
R
1 Re G ( s ) H ( s )
9.42 9.4
9.42 1
-1 1
-1 2
(Gain Margin:GM)
9.7 (Gain Margin:GM)

9.17

K c = 1 180 9.43
(Phase crossover frequency)
Kc = 1
Kc = 1
Phase crossover frequency

R
1 0 1
G ( j ) H ( j )
= 0.67
9.43 (Phase crossover frequency)

9 263
9.17
9.4
9.5
9.5 9.4
c 0 0.5 1 1.414 1.5 2 10

3.47 1.26 0.67 0.59 0.31 0.004 0
-90 -131 -162 -180 -183 -198 -253 -270
1.414 -180
0.67
1 1/0.67 = 1.5
9.44
K c = GM
1 0
1
Kc =
G ( j ) H ( j )
= 1 / 0.67 = 1.5
9.44 9.17

180

9.2
1
GM = ; where G ( j ) H ( j ) = 180
G ( j ) H ( j )
(9.2)
9.4 180
G ( j ) H ( j ) = 90 tan 1 ( ) tan 1 ( / 2) = 180
tan 1 ( ) + tan 1 ( / 2) + 270 = 0

= 2

4
G ( j ) H ( j ) =
+1 2 + 4
2
4
= = 0.67
(1.414) (1.414) + 1 (1.414) 2 + 4
2
180 9.2

1 1
GM = = = 1.5
G ( j ) H ( j ) 0.67
9.18
100
G ( s) H ( s) =
( s + 1) 3
G ( j ) H ( j ) = 3 tan 1 ( )
180
180 = 3 tan 1 ( )
tan 1 ( ) = 60
= tan(60) = 3
9 265
100
G ( j ) H ( j ) =
( 2
+ 1)
3
100
=
(( 3)2 + 1 )
3
100
= = 12.5
8
9.2
1
GM =
G ( j ) H ( j )
1
= = 0.08
12.5
1)

K o
5
9.19
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
4K c
G ( s) H ( s) =
s ( s + 1)( s + 2)
p( s ) = s 3 + 3s 2 + 2 s + 4 K c
s3 1 2
s2 3 4Kc
6 4K c
s1 0
3
s0 4Kc
K c 1.5
9.45
j
s = j = j 2
K c = GM = 1.5
K c = GM = 1.5 Kc = 1
Kc = 1
2 1 0
Kc = 1
K c = GM = 1.5
9.45
2)

180 0 dB
1) 180
2)
3) 2)
4) ( dB) 0
dB +dB -dB
-dB +dB 9.20
9 267
9.20
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
9.46
Bode Plot
10
5
0
GM
5
160
170
= 2
180
190
0.1 1 10
9.46
GM 3.5 dB
dB K c
3.5 = 20 log10 ( K c )
K c = 103.5 / 20 1.5
9.8 (Phase Margin: PM)

1) 1 9.47
(Gain crossover frequency)
2) 180

9.3
PM = 180 + G ( j ) H ( j ); where G ( j ) H ( j ) = 1 (9.3)
Gain crossover frequency

G ( j ) H ( j ) = 1
1
0
PM
9.47 (Gain crossover frequency)
9.21
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
4
G ( j ) H ( j ) =
+1 2 + 4
2
9 269
1
4
1=
+1 2 + 4
2
2 +1 2 + 4 4 = 0
= 1.141

G ( j ) H ( j ) = 90 tan 1 ( ) tan 1 ( / 2)
= 90 tan 1 (1.141) tan 1 (1.141 / 2)
= 168.6
1
9.3
PM = 180 168.6 = 11.4

1 0 dB
180
1) 0 dB
2)
3) 2)
4) 180
-180
-180 9.22
9.22
4
G ( s) H ( s) =
s ( s + 1)( s + 2)
9.48
Bode Plot
10
5
= 1.141
0
5
160
170
PM
180
190
0.1 1 10
9.48
PM 11.4
9 271
1)
1.1) G( s) H (s) =
100
s ( s + 10) 2
1
1.2) G( s) H (s) =
( s + 4) 3
1.3) G( s) H (s) =
1
s ( s + 10)
2
1.4) s+3
G( s) H (s) =
( s + 2)( s + 7)
10
1.5) G( s) H (s) =
s ( s + 3)( s + 10)
2) 1)
MATLAB

10

10.1

2
1)

2)

10.2

10.1
10.2
R(s) n2 Y (s)
T (s) =
s + 2 n s + n
2 2
10.1
R(s ) + n2 Y (s)
G(s) =
s( s + 2 n )
10.2

10.1
n2 n2
G ( j ) = = =1 (10.1)
( j )2 + 2 n ( j ) 4 + 4( n )2
10.1
n2 = g g2 + 4( n )2
g4 + 4( n )2 g2 n4 = 0
g2
(
g2 = n2 2 2 4 4 + 1 )

g = n 4 4 + 1 2 2 (10.2)
g
G ( j g ) = 90 tan 1
2 n
(10.3)
10.2 10.3
4 4 + 1 2 2
G ( j g ) = 90 tan 1
4 4 + 1 2 2
PM = 180 + G ( j g ) = 90 tan 1
2
PM = tan 1 (10.4)
4 + 1 2
4 2
PM 100 (10.5)
10.4 10.5

10 275
10.2

10.3
2
1)

10.3


K c> 1
Kc < 1
10 2 10 1 100 101 10 2 103 10 4 105 106

10 2 10 1 100 101 10 2 103 10 4 105 106

10.3
2) (Cascade Compensator)

10.4

K c> 1
+
Kc < 1

10 2 10 1 100 101 10 2 103 10 4 105 106

10 2 10 1 100 101 10 2 103 10 4 105 10 6

10.4
10.4

10.4.1 (Cascade Lead Compensator)

s + 1
Gc ( s ) = (10.6)
s + 1
0.1 < 1, > 0
10.5
dB
30
1
20 log
20
10 1
20 log

0

90
60
30 m
0
1 1 1

m
10.5
(s) ( j ) 10.6
1 + j
Gc ( j ) =
1 + j
= tan 1 tan 1
10 277
m
= m
1
m = tan 1 tan 1 (10.7)

m
m
1 sin m
= ; > 0.07 or m < 60 (10.8)
1 + sin m
10.1
10.1
20
G p (s) =
s ( s + 2)
PM 60

10.6
Bode Diagram
60
40 g = 4 .4
Magnitude (dB)
20
-20
-40
-60
-90
Phase (deg)
-135
PM = 24

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.6 10.1
10.6 PM u = 24
g = 4.4 60
m
m = ( PM c PM u ) + (10.9)
= (60 24) +
1) = 3 10.9 m = 39
10.8
1 sin m 0.37
= = = 0.277
1 + sin m 1.63
10.5
20 log(1 / ) = 6.44 dB
g = 6.3
PM u = 18 10.7
Bode Diagram
60
40 g = 4 .4 g = 6.3
Magnitude (dB)
20
-20
6.44 dB
-40
-60
-90
Phase (deg)
-135
PM = 24
-180
18
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.7
10 279

g = 6.3
PM c = PM u + m (10.10)
= 18 + 39 = 57
= 3
PM 60
2) = 7 10.9 m = 43
10.8
1 sin 43
= = 0.17
1 + sin 43
10.5
20 log(1 / ) = 7.7 dB
g = 6.8
PM u = 16 10.8
Bode Diagram
60
40 g = 4.4
g = 6.8
Magnitude (dB)
20
-20
-40
7.7 dB
-60
-90
Phase (deg)
-135
16
PM = 24
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.8 2

g = 6.8
PM c = PM u + m
= 16 + 43 = 59
= 7
PM 60

10.5
1
m =

1
= = 0.36
6.8 0.17
s + 1 0.36s + 1
Gc ( s ) = =
s + 1 0.06s + 1
10.9
Bode Diagram
60
40
g = 6.8
Magnitude (dB)
20
0
= 2.78
= 16.7
-20
-40
7.7 dB
-60
-90
Compensated
Phase (deg)
-135
Uncompensated
16
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.9
10 281
1.

2. 10.9
5 -45/decade
15-20 -90/decade
3. 10.8
4.

5.
10.10
10.9
6.

10.2
10
G p ( s) =
s ( s + 1)
PM 45
1)
10.10
Bode Diagram
100
g = 3.16
50
Magnitude (dB)
-50
-100
-90
Phase (deg)
-135
PM = 18
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.10 10.2
2) 10.10 PM u = 18
g = 3.16 45
m
m = ( PM c PM u ) +
= (45 18) +

1) = 3 10.5 m = 30
3) 10.8
1 sin m 1 sin 30
= = = 0.333
1 + sin m 1 + sin 30
4) 10.5
20 log(1 / ) = 4.8 dB
g = 4.16
PM u = 15 10.11
Bode Diagram
100
g = 3.16 g = 4.16
50
Magnitude (dB)
-50 4.8 dB
-100
-90
Phase (deg)
-135
PM = 18 15
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.11
10 283
5)
g = 4.16
PM c = PM u + m
= 15 + 30 = 45
= 3
PM 45
6) 10.5
1
m =

1
= = 0.416
4.16 0.333
s + 1 0.416s + 1
Gc ( s ) = =
s + 1 0.139s + 1
10.12
Bode Diagram
100
g = 3.16 g = 4.16
50
Magnitude (dB)
= 7.2
0
= 2.4
-50 4.8 dB
-100
-90
Compensated
Phase (deg)
Uncompensated
-135
PM = 18 15
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.12
10.3
1
G p ( s) =
s2
PM 50
1)
10.13
Bode Diagram
40
g = 1
20
Magnitude (dB)
-20
-40
-120
Phase (deg)
-150
PM u = 0
-180
-1 0 1
10 10 10
Frequency (rad/sec)
10.13 10.3
2) 10.13 PM u = 0
g = 1

m = 50
3) 10.8
1 sin m 1 sin 50
= = = 0.1325
1 + sin m 1 + sin 50
4) 10.5
20 log(1 / ) = 8.77 dB
10 285
g = 1.7 PM = 50
10.14
5-6) 10.5
1
m =

1
= = 1.61
1.7 0.1325
s + 1 1.61s + 1
Gc ( s ) = =
s + 1 0.214s + 1
10.14
Bode Diagram
40
g = 1 g = 1.7
20
Magnitude (dB)
= 0.62 = 4.67
0
-20 8.77 dB
-40
-120 Compensated
Uncompensated
Phase (deg)
-150
50
PM u = 0
-180
-1 0 1
10 10 10
Frequency (rad/sec)
10.14
10.4
10
G p (s) =
s (0.2s + 1)
2
PM 35
1)
10.15
Bode Diagram
50
g = 3.16
Magnitude (dB)
-50
-100
-135
Phase (deg)
-180
-225
PM u = 32, (unstable)
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.15 10.4
2) 10.15 PM u = 32
g = 3.16
35
m
m = ( PM c PM u ) +
= (35 + 32) +

10 287
1) = 15 10.9 m = 82
3) 10.8
1 sin m 1 sin 82
= = = 0.005
1 + sin m 1 + sin 82
10.8
2 (Double Lead Compensator)
82 / 2 = 41
1 sin m 1 sin 41
= = = 0.2
1 + sin m 1 + sin 41
4) 10.5
20 log(1 / ) = 7 dB
2 7 2 = 14 dB
g = 6.2 PM u = 47
10.16
Bode Diagram
50
g = 3.16
g = 6.2
Magnitude (dB)
14 dB
-50
-100
-135
Phase (deg)
-180
47
-225
PM u = 32, (unstable)
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.16
5)
g = 6.2
PM c = PM u + m
= 47 + 82 = 35
= 15
PM 35
6) 10.5
1
m =

1
= = 0.36
6.2 0.2
(s + 1) 2 (0.36 s + 1) 2
Gc ( s ) = =
(s + 1) 2 (0.072 s + 1) 2
10.17
Bode Diagram
50
g = 6.2
= 13.8
Magnitude (dB)
0
= 2.7
14 dB
-50
-100
-135 Compensated
Phase (deg)
-180
47
-225
-270
Uncompensated
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
10.17
10 289
10.4.2 (Cascade Lag Compensator)

s + 1
Gc ( s ) = (10.11)
s + 1
10, > 0
10.18
dB
10
0
20 log
10
20

0
30
60
90
1 1

10.18
(s) ( j ) 10.11
1 + j
Gc ( j ) =
1 + j
c = tan 1 ( ) tan 1 ( ) (10.12)
1 / g
1 g

=
10
(10.13)
10.5
10.5
20
G p (s) =
s ( s + 2)
PM 60

10.19
Bode Diagram
80
60
g = 4 .4
Magnitude (dB)
40
20
-20
-90
-120
Phase (deg)
-150
PM = 24
-180
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
10.19 10.5
10.19 PM u = 24
g = 4.4 10.18 PM c
60
1 /

PM c
PM c = PM c + (10.14)
= 60 +
1) = 6 10.14 PM c = 66
10 291
66
g = 0.9
21 dB
10.13
10 10
= = = 11.1
g 0.9
1 / 10.12
c = tan 1 ( ) tan 1 ( )
= tan 1 (11.1) tan 1 (111)
= 84.85 89.48 = 4.63
1 /
PM c = PM c + c (10.15)
PM c = 66 4.63 = 61.4

s + 1 11.1s + 1
Gc ( s ) = =
s + 1 111s + 1
10.20
Bode Diagram
80
g = 0.9
60
= 0.009
Magnitude (dB)
40
20
0 21dB
-20
-90
-120
Uncompensated
Phase (deg)
-150
Compensated 66
-180
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
10.20
1.

2. 1 / 5 -15

10.14
3. 2
10.13
4. 1 / 10.12
5. 1 / 10.15
2

6.

10.6
10
G p ( s) =
s ( s + 1)
PM 45
1)
10.21
Bode Diagram
80
g = 3.16
60
Magnitude (dB)
40
20
-20
-90
-120
Phase (deg)
-150
-180
-2 -1 0 1
10 10 10 PM = 18 10
Frequency (rad/sec)
10.21 10.6
10 293
2) = 6
10.14
PM c = PM c +
= 45 + 6 = 51
51
g = 0.85 10.22
Bode Diagram
80
g = 0.85 g = 3.16
60
Magnitude (dB)
40
21dB
20
-20
-90
-120
Phase (deg)
-150
51
-180
-2 -1 0 1
10 10 10 PM = 18 10
Frequency (rad/sec)
10.22
3) 10.13
10 10
= = = 11.76
g 0.85
4) 1 / 10.12
c = tan 1 ( ) tan 1 ( )
= tan 1 (11.76) tan 1 (117.6)
= 85.14 89.51 = 4.37

5) 1 / 10.15
PM c = PM c + c
PM c = 51 4.37 = 46.63
6) = 6
PM 45
s + 1 11.76s + 1
Gc ( s ) = =
s + 1 117.6s + 1
10.23
Bode Diagram
80
60
= 0.0085 g = 0.85
Magnitude (dB)
40 21dB
20
-20
-90
-120
Uncompensated
Phase (deg)
-150
Compensated 51
-180
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
10.23
10 295
10.7
1500
G p ( s) =
s ( s + 5)( s + 10)
PM 40
1)
10.24
Bode Diagram
50
g = 10
Magnitude (dB)
-50
-90
-135
PM = 22
Phase (deg)
-180
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.24 10.7
2) = 12
10.14
PM c = PM c +
= 40 + 12 = 52
52
g = 2.1 10.25
Bode Diagram
g = 2.1
50
g = 10
Magnitude (dB)
24 dB
0
-50
-90
-135
PM = 22
Phase (deg)
-180
52
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.25
3) 10.13
10 10
= = = 4.76
g 2.1
4) 1 / 10.12
c = tan 1 ( ) tan 1 ( )
= tan 1 (4.76) tan 1 (47.6)
= 78.14 88.9 = 10.76
5) 1 / 10.15
PM c = PM c + c
PM c = 52 10.76 = 41.24
6) = 12
PM 40
s + 1 4.76s + 1
Gc ( s ) = =
s + 1 47.6s + 1
10 297
10.26
Bode Diagram
= 0.021 g = 2.1
50
Magnitude (dB)
24 dB
0
-50
-90
Uncompensated
-135
Phase (deg)
-180
Compensated 52
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.26
10.4.3 (Cascade Lag Compensator)

10.27

10.28

Lead Compensator Lag Compensator
dB dB
+ dB 0
0
dB

+ 0
0

10.27
dB
20 log
0
dB
Lag Lead

+
0

1 1 1 1
1 1 2 2
10.28

s + 1 2 s + 1
Gc ( s ) = 1

1 s + 1 2 s + 1 (10.16)
10, < 1; 1 , 2 > 0
10.8
10.8
1500
G p ( s) =
s ( s + 5)( s + 10)
PM 50
10.7 40
50

10.7
10 299
10.26
s + 1 4.76s + 1
Gc ( s ) = =
s + 1 47.6s + 1
PM c = 41.24
g = 2.1 50
m
10.9 = 10.24
m = (50 41.24) + 10.24 = 19
10.8
1 sin m 1 sin 19
= = = 0.508
1 + sin m 1 + sin 19
10.5
20 log(1 / ) = 2.94 dB
g = 3
PM u = 32 10.29
Bode Diagram
= 0.021
50
g = 3
Magnitude (dB)
0
2.94 dB
-50
-90
-135
Phase (deg)
Lag
-180
32
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.29

g = 3 10.10
PM c = 32 + 19 = 51
= 10.24
PM 51
10.5
1
m =

1
= = 0.468
3 0.508
4.76 s + 1 0.468s + 1
Gc ( s ) =
47.6 s + 1 0.238s + 1
10.30
Bode Diagram
= 0.021
50
g = 3
g = 10
Magnitude (dB)
0
= 2.13
2.94 dB
= 4.2
-50
-90
Lead Uncompensated
-135
PM = 22
Phase (deg)
Lag
-180
32
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
10.30
10 301
10
1)

10
1.1) G p ( s) =
s ( s + 1)( s + 2)
PM 40
12
1.2) G p ( s) =
s ( s + 1)
PM 40
2500
1.3) G p (s) =
s ( s + 25)
PM 45
5000
1.4) G p (s) =
s ( s + 5)( s + 10)
PM 40
1
1.5) G p ( s) =
s2
20%

[1] M. Gopal. Control Systems, Principles and Design, 2nd Edition. McGraw-Hill, 1997.
[2] Raymond T. Stefani, Bahram Shahian, Clement J. Savant, Gene H. Hostetter. Design of
Feedback Control Systems, 4th Edition. Oxford, 2002.
[3] . (Control Systems). : .
, 2545.
[4] . . :
, 2548.

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Control Systems

P-Control for system type 0

PD-Control P-Control with K2, for 1st order

1.2.2 (Closed Loop Control)

Speed Sensing from Tachogenerator

1.3.1 (Mathematical Modeling)

1.3.2 (Transfer Function)

input Transfer Function Output

1.6 2 I (s) E (s)

I (s) 1.8 1.6

I (s) 1.13 1.12

Vc (s) 1.20 1.19

1.28 1.29 1.27

1.35 1.36 1.34

eo (t ) = Roi (t ) + vco (t ) (1.40)

Ei ( s ) = Vci ( s) + Ro I ( s) + Vco ( s) (1.41)

1.42 1.43 1.41

G (s) (rational function) m n n

(Multi-Input Multi-Output: MIMO)

R1(s) G11(s) Y1(s)

G(s) = C1C2 R 2 s 2 + 2C2 Rs + 1 G ( s) = (C 2 R1R2 ) s 2 + 2CR1s + 1

Control Panel Capacitor

2.9 X 4 = G34 X 3 + G44 X 4

2.9 X 5 = G35 X 3 + G45 X 4

= 1 (G3 H 1 G1G2 G3G4 H 2 )

= 1 (G3 H 1 G1G2 G3G4 H 2 )

Y G1G2 + G1G3 + G1G2 G4 H 2 + G1G3 G4 H 2

3.11 3.3 MATLAB

3.12 3.4 MATLAB

3.13 3.5 MATLAB

3.14 3.6 MATLAB

n (Undamped natural frequency )

d (Damped natural frequency )

3) (Critically damped response)

K = 1; n = 10; = 0.05 ; no zero

polynomial due to initial conditions

zero-state response zero-input response

Y ( s )[ s 2 + 6s + 8] = sy (0 ) + y(0 ) + 6 y (0 ) + r (0 ) + R( s)[ s + 5] (4.2)

(11 / 3)2 3(6)

>> roots([2 3 5 2 6])

>> roots([1 0 -3 2])

>> roots([1 2 5 6 2 -8 -8])

>> roots([1 1 -3 -1 2])

>> roots([1 1 3 3 3 2 1])

Response = Transient + Steady State

3) (Peak overshoot or maximum overshoot, Mp )

y (t ) Underdamped Standard 2nd Order System, K=1

100 exp(- damp/(1-damp2)1/2)

+/-5% > 0.68 5.5 ( 3)

Normalized Curves (+/-5%)

5) (Steady-state error, ess )

5.1, 5.2, 5.4 5.5

s1, 2 = 180.6 32,616.36 4500 K c (5.8)

y1 (t ) = 0.5 lesser significant location of zero

y2 (t ) = 50 = 2 lesser significant location of pole

112 (Control Systems)

ess to ess to ess to

ess = lim e(t )

(Pulse-Width-Modulation Control: PWM)

c(t ) = K I e(t )dt

P-Control for system type 0

PD-Control P-Control with K2, for 1st order

T = 1.34 0.5 = 0.84