Fourth Class Process Control

1. Periodic function
a) Waves
1. Rectangular wave

0 𝑡𝑡 < 0
⎡ 𝑘𝑘 0 ≤ 𝑡𝑡 < 𝑏𝑏 ⎤
⎢ ⎥
𝑓𝑓(𝑡𝑡) = ⎢ 0 𝑏𝑏 ≤ 𝑡𝑡 < 2𝑏𝑏 ⎥
⎢𝑘𝑘 2𝑏𝑏 ≤ 𝑡𝑡 < 3𝑏𝑏⎥
⎣0 3𝑏𝑏 ≤ 𝑡𝑡 < 4𝑏𝑏 ⎦
𝑘𝑘 𝑘𝑘 −𝑠𝑠 𝑘𝑘 −2𝑠𝑠 𝑘𝑘 −3𝑠𝑠 𝑘𝑘 −4𝑠𝑠
𝑓𝑓(𝑠𝑠) = − 𝑒𝑒 + 𝑒𝑒 − 𝑒𝑒 + 𝑒𝑒 … … … … … ..
𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠
2. Triangular wave

This is a series of triangular pulse

⎡ 0 𝑡𝑡 < 0 ⎤
⎢ 𝑘𝑘𝑘𝑘 0 ≤ 𝑡𝑡 < 𝑎𝑎 ⎥
⎢ 𝑎𝑎𝑘𝑘1 ⎥
𝑓𝑓(𝑡𝑡) = ⎢−𝑘𝑘𝑘𝑘 𝑎𝑎 ≤ 𝑡𝑡 < 𝑎𝑎 +
𝑘𝑘2 ⎥
⎢ ⎥
⎢ 𝑘𝑘𝑘𝑘 𝑎𝑎𝑘𝑘
≤ 𝑡𝑡 < 2𝑎𝑎 ⎥
1
𝑎𝑎 +
⎣ 𝑘𝑘2 ⎦

𝑘𝑘1 𝑘𝑘1 𝑘𝑘2 −𝑎𝑎𝑎𝑎 𝑘𝑘1 𝑘𝑘2 −�𝑎𝑎+𝑘𝑘𝑎𝑎𝑘𝑘 1 �𝑠𝑠 𝑘𝑘1 𝑘𝑘2 −�2𝑎𝑎 +𝑘𝑘𝑎𝑎 𝑘𝑘 1 �𝑠𝑠
𝑓𝑓(𝑠𝑠) = 2 − � 2 + 2 � 𝑒𝑒 + � 2 + 2 � 𝑒𝑒 2 − � 2 + 2 � 𝑒𝑒 2
𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠 𝑠𝑠

b) Sinusoidal wave
1. Sine function

0 𝑡𝑡 < 0
𝑓𝑓(𝑡𝑡) = � �
𝑎𝑎 sin 𝑤𝑤𝑤𝑤 𝑡𝑡 ≥ 0

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Fourth Class Process Control

𝑎𝑎𝑎𝑎
𝑓𝑓(𝑠𝑠) =
𝑠𝑠 2 + 𝜔𝜔 2

Fig.9 Sine function

Fig.10 Sinusoidal input

2. Cos function
0 𝑡𝑡 < 0
𝑓𝑓(𝑡𝑡) = � �
𝑎𝑎 cos 𝑤𝑤𝑤𝑤 𝑡𝑡 ≥ 0

𝑎𝑎𝑎𝑎
𝑓𝑓(𝑠𝑠) =
𝑠𝑠 2 + 𝜔𝜔 2

Fig.11 Cos function

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