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④ UTS pertengahan OKTOBER

→ Refereeing : Norman S .
Hise →
yang
utama .

Ogata → lebih
banyak various sod .

↳ Perila- an →
PR : seh
ap
hannis &
dikumpulmmgdepnys
-

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mingy
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menyimpan energi
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maka ada Zpersamaan

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J
knot
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perSamaan
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sing? gamba (c) man ng
ma → -
-

halos tu bison di solve

→ i
pakeatnran Crammer ! ! .

Keren .

④ baca si stem
nekanikyaglebihkompkksakanlebih.ba k pakai pendekatan :

sum
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hdaman67bukuNise
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it Xlt)

] M
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wit) ult

ex! →
penyeksaianngs sama
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= ↳ buat
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body diagram atau

bison
ginger pale sum
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viscous
damper

4.
Sama
kayak and sis
-

↳
I:c:& ;÷÷mma⇐
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-

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} (b) Kalo reflehsi input ke output

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control so al :

dai input ke output

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HT
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gear nyabertingkatlbanyak
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explore soak
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y
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,

④ PR Sistan Kumput
mingdep ! ! Kum put lewat
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→ SiAPI BU AT KU IS MING DEP !! !
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-
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17J Ca) mesh i Ckiri)

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O

diubah ke domain ( 2T G) Iacs) t ( 4tYst2DIzCs)=o

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'

gikarangkaian
-

akan dida
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-

, =
.
. .

berikut
pattern per Samaan
sebagai :

substitusikan peers Cii) ke dalam persei ) didapatkan

mesh 1 ( Kiri )

VCs) =
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R Iacs)
Vcs) -
-
(
4t%)(4tIs) Isis) -
Gt Ys ) Iacs)

VCs) Ci )
VCs) -

(8+45+45) Iz Cs) (21--16) Iacs) -

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-

= -
2 Iacs) . . . .

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-
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6) Ids) Ciii)
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-

RFCs) t ( RtRt Ls > Iacs) - O

Vhs) = 25 Iz Cs) . . -
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-

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-
O maka didapatkan transfer function dari pers Ciii ) & Civ)

maka ICs) Ets) Isis) Cii )

=k=2sI
-
-

Gcs,
. - . .

4stYst6 Ids)

substitusikanpersamaan Cii) ke
per Samaan Ci ) ,
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Gcs)

÷:÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷
=

÷÷÷ : :* .

25 Iz ( s) Civ)
impedance pada mating
'

jikadigunakanmetode
=
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sum of
-

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dari
pers - Ciii) & Civ) didapatkan Gcs)
-
-

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didapatkan
yaitu Dmassa I

Gcs) = =
2sI Fcs) -
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-

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-
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. .

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-
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t ( mas tfvstk) 11267=0

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-
O

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AM
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-
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:

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-

berikut
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E-E-no
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dani 3
perSamaan
aturan Crammer , dida
: ÷ ÷ : ÷
,
i ÷
ji ha kita menai

pathan :
0-36) menggunakan
:

I
572 s Zs 3Tcs)

y
-

ios set; Oo
ow -
-
-

y :O: III; %)
't

0-3 Cs) =

z s 't 95+65

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sehingga
=
,

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50-36) =
9
253 tgs -
t 6s

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tI addah

G⇒=E=zs¥%
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w

Bab 5 Baku Mise

DBlock Diagram
Kalo
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sistemnya kompleks , block
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complex
→
kompoaen block diagram :

actual -
response
desired I

response

mend shibu si
-

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peg
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parallel

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cess

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negative feedback

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t
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positive feedback
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elements branches ( represents systemsHubsystems)
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interconnection the systems and the signals

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controls lain :

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,

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ini masih bisadisedeerhanam

Atman Mason ? lagi

J
'

Z
-

loop gain :

gain gang
di tem um
dagan age trace loop .

%b7kitaehhpp.EC
forward pathgain gain gang ditemum degan nye trace input ke output
-

: .

3.
touching loops loop z yang ga puny node yang Sama
non - :
a

4.
touching loop gain dai
non
touching loops dilahuin perkalian massing 2- gain wya
:
non
-

.
,

bi sa meh bathan 2,3

kalian atan lebih den
touching loops
- '

per
i. non
'

nga
-

, .

↳ Atman Mason

GGI=fµ=Ee}t
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→ forward pathgains .

Cjdurnyacuma D .

jading da
pet
-
:

LATI HAN SOAL ! ! !

→
dihni Are Dz = I

Kareena Kalo di Dz ada common node di H G)

,

Lakhan sod lagi ! !

pekjainbabsnepuesenks.sk/espaenntnkharijumat
Representasistatespaceiyog g§tg&,°T
'
20

D frequency domain vs time domain representation

Kendal: Nasik Corsa Sistan LTI
domain leoni Cama
input output came 1
frequency
,
:
→ ,

L
bi sa da
transfer function
:
tapi pet info stability & trans en siskin .

→ time domain : leoni Kendal '

modern , bi sa un fuk s
-
stem non linear non zero initial
,
N
condition 6 isa multiple input
state space , &
output
uutnk
→
steps dapetin state
space representation R
given initial current
ex ! Ny
g- -1 ico)

}
L

vet
-
the state variable
• choose it as

°
form equation (Kirchoff 's) uhing the state

variabet Litt))
-
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-
Ht)

state equation
thou do
laplace transform
IET?ITI:# acts
to the slate
step
-

is a o a

have mm
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we
,

Is # CI ¥q) t te¥
reviews ↳ initial condition
=
-

factors in the Laplace

transform .

transform back to the time domain itt)

{( 44¥
-

→
LK) t
6)e
• -

e e
- -

;
.
-

note : we can switch the state variable to a

different one and it will have its own

state representation ( plus the output and all ) → means that the state
space equation -

space

the state variable that

representation (equation is NOT
unique
: it depends on

you
choose

→ note that
for higher
order ( ) of
n the
system you'll ,
need a minimum
of a state

variable → the example above is a

first order system → I state variable

have RLC circuit second order → at least 2 state variable

if you an :
system .

note to
→
self try to:
do stale
space
on RK
using different state variable

ex! Ict) red ?

and
maybe
↳ itt) =
Cd÷ ↳ ult) -
- Ritt) t L didnt ve

dict)
⇒
diff =
ittf
C
⇐
at
-
-

Htt Ug Fitt) -

Lalu ke Laplace
transform → in bututs
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lo ,
i Co) & VED
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→ habis
equations 1am Cont
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↳ manti sete Iah dalam beatnik 6.3 a d. bikini bentnk matrices

laplace jadi
Senna
,
aye .

i -
-
Axt Bu

ly
x. =

( da I ) x
-

(g) u -
-
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y
-

output Cdai
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vector
,

y
quantities
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maths .

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°
the
transfer function based on state
equation
penumnan transfer function
SXG) -

-
A YG) t Bucs ) → (s I -

)
A X G) = Bucs)
'
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-

= -

- -

Ya CGI Af) Bucs) t D UG)

"" G
=¥
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-
-
-

Case .

B+ yes,
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ji ha menggunakan Sum
of Impedance
→
pada beban 2kg

FG) -

- X , Cs) ( Ms 't first K) -

Xzcs ) [frstk)
Fcs) =
Xn Cs) [ 25+3 Stl ) -

Xz Cs) ( 3s ti ) -
. .
Ci )
→
pada beban
4kg
-
X , G) [fr Stk) t Xz Cs) ( Ms tfvstk 3=0
X els) [ 3 s t I] Xzcs) [ 4 s't
-

t 3 Stl ) so

Xe Cs) 4543Ste
=
Xz Cs) . .
.
Cii)

subs titusikan Cii ) ke Ci ) ,

d-dapatk.am
Fcs) =
453431ft ( 2543 ste ) Xa Cs) -

(3 Stl) Xzcs)
(45t3stDC25t3stD-(95t6
Fcs) =

3 sty
Xzcs) =

859195ft × up

makaacst.FI?--esaII'ss+6s#
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2)
.

Tcs) =
CI - -
?
Xl Xz X3 Xs RCD

X4

Xo

SFG
nya #0k¥
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xf↳
fo0k¥51
C
R
r Xz
Xz Xs

" ka
forward path ad, z

→ R ,
Xi Nz , Xs , Xs , C →
IT = Gels) . Gds) -
Gq Cs)
C
1×41×5 Gals)
R Xi
→ , , → Tz =
Gz .

loop gain

}
→ -
Gds) -
GUD .

→ -
Gah Gds) -
- Gqcd . Gses) D= It GKD.GKDTGID.GG?GqCs7 .

→
-
Gses) Gsb) tGSCDTG367.Gqcd.GS G)
→ -
Gzcs) Gals) GSG) -

non
touching loop gain : none

be -
-
Dz =
I ( Karna Senna loop bersinggungandengan nods X ,

sehrngga
Tabitha
Tcs) =fy =

t.a.sn#::::::s:::::.lIEa:iiEia7a.a....as
transpose If] I Ii .IM
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kyogko
unit step ult)
system's
ten:&
-
( q
→ CCD =

} ( sst⇒ -

Estes } cai
kayak bias.

=
45+45 St5

late in vers balik te Wakhi

)
St
at
f tf e
-
-
-

} ↳ pate metode mi possible tuk tasus ini Karna sedulous

)
un , ,

Kita bi sa hat dai poles& zeros

yang Komp
uutnk leks si si
,
po
-

dais title
↳ Kale pole system senator
fouls origin s stem akan
lebihcepat menujno
-

a)First order
Systems jw

:}
beberapa
f.
c- stitch
"
±d7¥
's
-
a
o

÷;÷: ÷
o÷±%±
flag kung
nisi Kan siskin
↳
yang meireles hangs I
-

t
.

D Second -
Order
Systems

f
tan Kkk
dengue
:
:÷÷÷::
 Adzhani Zalfa A
Kendal i
.

PR 2 Sister
-
18018018

Rc¥
the equivalent single block (transfer function Tcs))
1) , Maka , ekivaleusi Tcs) - adalah

to
← toss
a-
-
R#÷-I
sederhanakan block
diagram di ata 2) .
Using mason 's rule , find the
equivalent transfer
pindahkan blok Idan ke sebelah Kiri function Tcs) Ccs) (RCD
2
pick off
→ =
.

point Csebelah Kanan

summing juction a) 1-
"

Lortel
"

→
gabungkan blok 3 dan 5 ,
menjadi blokes Xbloks
\ -

Chubu
ngan
Seri block) jikadibnat SFG
nya
:

÷÷÷÷÷÷÷÷÷÷÷÷÷÷i÷÷
:
" '

It [ 6667161064]
Maka dikefahui k=2
W_ 1-
dimaria
=

k
.

R Xi , Xzcxz , Xs , C Ti
}f⇒ Fos
=
→
S Cstlzd It -
, , =
s

K2
scY¥ ,+g¥ Rcxicxgixs, Tz j
=
'
-
C → -
-

diketahui Pula ada 4

loop denganjalur &

syst sstty
=
=

ben Kut
gain mooing I sebagai
-

= ↳
'
¥3 ↳ X , Nz Xz Xs X ,
, , ,
=
-
s

R
1-
To / Ccs)
↳ Xi ,X4 , X 5, X
,
= -

Ys
→
17+-1#stT ↳ Xi , Xz , Xz , Xs C. Xo , Xi
.
= -
5
↳
blok 6 dan blok (dikalikan Kareena
X '
1×41×5,4×6 Xi =
-

Ys
→
gabungkan 8 meme -

nuhi
hubungan blok Seri ) dapatdilihatpulabahwasemua loop memiliki

ke Samaan nodal di X .
,
maka non
touching loop
"" + X 147
Ccs) gain
-
-
O
→ ④
¥67 →
I -
-

g sehingga A- I -

C- 5-Ys - 5- Ys)
=
25+1+45
→
sederhanakanhubungan feedback deng "
Per
-

dan D, Az I
Ckarenabersinggungan
= =

hitungansebagai berikut deny an node I untuksemua

loop )
( blok 9) scstlb)

TAtyTz#
400
maka Tcs)
It
= '

Esto
-

=
-

T*I¥÷I÷
=
400

Esta
 Ttt) OTH)
3) dan diketahui
pula bahwa 0-4=10 AL
f f
.

Ni 30-

→
-

µ
"

's h=Yo
)

pout fit IN Ns -
- to make
)
§ I Mr
fact
- -

1-1 ji ka mpulkan state space representation

dis dani
-

Nz -
-
soo

Mito El rangkaianadalahsebagaibenik.at
Kee

untukmempermudahanal
:: ::÷÷÷: isis.rangkaiandirefleh.si
.
'

10
wgikankeaaam
:i÷Y;t⇐
-

dengan

was,
¥ .
amor

maka didapatkan perSamaan

(lot2) fz -

20-3 =
lots) →
120-2-203 =
lots) Ci)
-
202 t ( 3 St 2) 0-3-350-4=0 →
-

20-zttsstDO-53sff-OG.it
35-03 t ( 35+2570-4=0 →
350-3+550-4=0 Ciii)
- -

jikatehnga per samaan di

transform Kembalike dalam

÷ ÷ :÷:÷ ÷:÷ i÷ ÷ :÷ ÷ ÷ ÷ ÷ ÷:÷ ÷:

snbstitnsi semua
persamaan ke dalam Aq don Eg
④ a
120-2-20-3=10 Tht)

Az =
l0TCt)t2#
12

4) ⇒
-2110174,2202 ) tztzt 305-30-4=0
Iz Ttt) I fast 20-3+30-5 30-4=0
- - -

Ezfzt 30-5 30g - =

F- Ttt) (vii)
Lvi) ⇒ → Est 50-4=0 ⇒
as Ftc =
Lviii)

Ks
sdtsztsdtdf-oefzdtaf-fsdf.ie Yo,
-

30-3 =

50g
As =

Ffg tix)

dida
substitusikanpersamaan ( viii) & Lix) te Lvii)
-

patten Is ( Faq) tzfszfq ) 30g ETH) -

-
-

Eg Aq t 50-4-30-09 =

Iz Ttt)
fI=-÷tqtIT
Transientkesponse.PE#2Yog if Jing & ,g
'w '

sedikit da
's lalu
→ review
minggn .

↳ Kale kart
pole wya read
sister
ped (damped maksndaya padat → a s stem
-

-
a .

tertentu atan stab il)

nya akan menu
fu snath wiki

↳ Kalo aka r I
pole i¥ sister
undamped dan bero silas istilahnya marginally stabit
'

, →
.

Kalo pole nya pasang Komp leks is stem underdamped dan mengalami
biking
↳ an an
-
osiksi
- -

tapi snath wiki tartan tu

fu
menu .

↳ Kalo akar
ganda Eal aiticallydamped
:

→
forced response : d-akibatkan
pole dani input
natural
larga mbarka
→
response
: oleh
pole system nya .

e) Bentuk um um si stem orde -

2

natural
frequency ten frequency tnpa damping
:

damping ratio E
,

} exponeut-aldecayfnequenay.ly
=

natural
frequency
Naturalize
exponential ( rays) , time constant

the
general system
Gg) setastb =

untnk
taupe damping pole ,
ada di Sumba
g
w -

pole gang purely imaginary ,

a=o

math b- → untuk Kita Tau

Gcs) =

S2 tf ngai
Wn .

pole nya di
Ijf maka

b = Ww2

""
""" ""
"
"

÷÷÷÷÷÷÷÷÷ :

1-
 wiki under
→
efek damping ratio
pada sister
damped
wiki tea l
damping efek damping makin
→
ratio Kecil osiksi
-

efek
→ -

masih
lumayan gede .

→ wiki damping ratio gede →

efek damping makin besar →
efkisdasisemak.in
Kecil
parameter perform ansi si stem orde -

bish I 2%
←

bisa I 5%

Te=wI ÷
g
.
:*: ::::: mins

(Kalo di rise time fer -

↳ time
peak untnk
bonding tunes)

q→ 5%

unhk
Tp= Ts=%FId±j
se
we

ihr niki dani

④ settling time
jam
→
pen inan
apple
terakhir d- mama ?

titaabaikon ??

f
W -
Kom Po heh o si la si
Js
in ikomponen decaying

:::::÷:÷÷: ::::::: .÷÷÷÷::::

Kareena
yang
Kita
tinjaukomponen
decaying nya)

↳
→ Komp one n
decaying
.

-
X → cos da blab la
 Transientkesponsept.rs#25yogko if} F Tg '
,

Yoss:
f-
"

→ sister orde t a Kan Selah stab if sekma a benda di Kii s

plane .

sistem order 2
tengan tung pole nya .

untuk 2
complex pole &
kanya no zero

lebihdai
,
yang thuya pole atm
2
puny
a zero
, diapnoksi main

y dongan dominant

) Transient higher order

system berarh
'

response for
°

d- sini
Kalo
'

additional poles show

"

→
pale
→

order
.

mis al pole teh

ga
- -

Xr justifiedstem
si

} syarat
si
Sima
apnok
→ additional zeros
steady-statetrnfzsyogiu.FI ' '
& '
,%g
↳ Bab 7 buku Hise

→
defuse
clan to
perbedaan input output . diauatsis
pada
homes Statoil uutukbisa d-
↳ in other words ,
tinjau .

→ test inputs gtimefunchm

(I t) laplace
-

step function → constant position →

inpntstepsnneon
transform
ramp function → constant
velocity (t →
1/5) ""
"" ""
"

parabola → constant acceleration

( yzrz →
ygz) §÷i÷qd÷ms .

GRCs
Ccs)
FG) Ysatau b'
'
RG) ) tezantung input yay dipake
aytgg
-
-
-
:
→

KG) ④Kalo Hcs) # li

→- ICD =
-
I make hares reduk -

HGCDHG) si blok diagram

p
Jediin 467=1

→ berdasarkan test inputs wya

.

input ramp

le
untuk Ess finite parabolic
Kp
-
-

stiff Gls)
says ka -
-

sligo 5GB
"
""

:c:÷÷
Konstanty
!fII -
1h27
ess

ess
finite
infinite
→

→
..
n

n
-

El
z

berlaku te
unity feedback system
parma
 if} & ,%g
sensitivityastabilityfwyog.co
'

→ Ch .
7 . 7 & 6 ( Baku Nisd

) Sensitivity
o

elite sisters
→ Seber
apa besar peu baham parameter Sistan me
mengamhi fungi

5kYI?f} dimona Top -

-

Eff
mis al a da TF
Tcg =
= kiGCD
f-Cs) I tkzGcs)

sensitivity .nya
maka

dtaff.FI?---tfTs'daTIttahadappem6ahank
sat
:
=

ftp.dzf =

Itsy -

i
-
-

¥, -1¥
sit e-
-
arti
nya
:
pan
balian k, seara
lang sung memengamhi sister .

homes sea karat

jodi ki dipilih mung
kin

↳ lain ke
kaluga untnkpenrbahan
Haitians )
'
sis . =dIE?T =

¥ date ¥, -
:
-

ujungEnya dapet
ka GCD
knees) x
jadi SI =L
-

= Kaku i
,

memengcmhi se cats

laughing tap contradictory

↳ Kalo
parameter G
yay
benbah .

TG) =
k"vmakddTG uL
kecitkzGCD-kack.cc#itkzGCs
) Ct
= =

keg Cs) 5
= ki

Sais ddt%T 9¥ dated ftp.eatkzacsD

'

co
- - -
-
- - -

Sais) ( ) y+k÷,
tidaktrklym.us#sensitiftcrhadappembahan
ka bi sa dater
s = →
agar system
Gcs)
sensing
miki ↳
yang Kita manin adalah sister
yg gatokh I
 D
stability
→
def nisi stability began tagantmg nasal ah
-

e
point of view

for LTI systems

usinguaturalresponsel.sn
jika
-

stem stab I
-

.
natural
response
meadekati o saat + → as
2 si stem unstable Kab meade Kati
n-
seat t → no
.
-
a

3 Sisters stable
marginally jika natural tidal
atanpun bertambah tapi dia
.

response menu run

KonStan lo si Iasi ex 1 undamped

'÷÷÷÷÷÷÷÷÷C
→ .
.

the total
using response
or
forced input (Bl Bo)

:i:÷::::÷÷±÷ . . .
.
.

→ Routh -
Hurwitz Criterion
↳ bi sa members Kan hams
best biker stem Tampa menyelesaikan closet loop system
.

Ss
info
-
-

poles
d-a tan ?
berapabanyak panda letakuys
→ Luma
ngasih pole mating plane , bukan
step : -

generate a Routh table

interpret
-

→
generate Routh Table
→ hans di
tigon dalam kondisi closed
loop

]
settle 6am biss dik hat
'
in
serape says k
÷ g, di ki lKanan
Pole Yg Sumba
⇐

ma:c.
¥:
¥41 .in .
imagines .

} interpreters jnmkh pole panda

'

plane →
informer kestabilah
.

Lakhan : PG) =
35+956+655+45't 73 t 85+2 St 6
set 3 6 7 2

la
'
s g 4 8 6
55

emanates
14/3 13/3 O O
. "
a:* ,
:÷÷%:÷ : :
S4
i
in
.
s
'
3 LHP
5
→ kondisi khusus dani Tabet Routh
D. ada niki
2
special cases :
O di Kolo in
perfume
2) . Satu row
nilainya O Senna .

land si

.net#onbnilai0didekatidengar
-
-
l →

E Keil bis a didekali dai Kri

yang sangat ini
:

map un
Kanan Canan
positive atan kits
ngetif sesuai a sums
.

)
↳
metodenevcrsecoeft-u.cn#
god
yay
sans
chasing a Sama

tapi beda metde

dong .
stabilityptQoq.no if} ;jj&,÷
) Routh Hurwitz
o Criterion :
Special cases

lalu
→ kondisi I ada di
perform uan
Kalo
negative feedback
→ bond si
-

2 :
entire row is Zero
/
Tcs) =

jargon lupa ! ! ngeliat stability pale closed

loop Palanga TCI
:
bukan Gls) .
It Gcs)
10
all Tcs #

)
.
=

s 5+754+657425 tdst 56

tabet routh nya : S5 I 6 8

54 if 64/2 859
?I ?
-

II
'
s
. .
.
.
I entire row is zero .

" s

so

at the third return to the

→
stop now ,
row
immediately above the row

of zeroes
and
form auxiliary pot nominal
an
-

PCs) S④t6s②t8s° =

to
↳ then
differentiate PCs) the coefficient , use
of
this
equation
the DPG)
replace
row
of zeroes
3
to
Tds
=
4S H2s

{
5

fifth
I 6 8 tanda
S tidal ada
pembahan
54
EE :E¥:&
I 6 8

:*:
Task : :*:
'
ix. *
.

;
o

s
'
3 8 o LHP -
sewing
pole ade di Sumba

Yz imaji
' her
s o o .

-
so 8 0

marg-nakystble.JO
) stability Routh Hurwitz
design via -

K
close loop TF Tls)
-

p is : =

53+185+77 St K

-
b wat fabel Routh
nga
stab it botch ada
Kalo pemba
LL 4- I
ga
-

man

a)
,

s3 I 77 a have Tanda
- -

tiny
-
-
ar
,
5 18 K
( K 1386)
-

18
a
>o → a =
-
-

si O
a
i.

"a
I Isis: : : :*:p:*::÷:
b ° '
o -

b "
:
.
.

kayak
stabled
k -4386 → d- can kondisikhusus
'

2 mags
tends
hjnng-nyagaadapenbal.am
:
→ contohsoal

Gls) =
k_ = k_
( 575457 Cst 27 sat 25753+25+5+25

Ks
4735735725
s4t3s3t#
Tls)
KS
=

353+35425 ¥¥t2Stk
"
=

't t
38+3542 S4 t Stk

fabel routh nya 54 I 3 K

¥kt2
tguntuk stab it
-

20
S3 3 2 O
µ, o .

Iz
'
s k O
'
S -

%kt2 O O

so K O O

④ untnk evenpia→ yang nyebabm

ada satu row zero semua .

↳ menuhin
diapasti si meti
terhadap origin
ex! Kaho dia pole ya ada 2 di RHP Cini Kat dai peganh
-

an Tanda d- kolom l ) makes

d-a 2 di LHP
punya
→ ferarh di contoh
sebeluarngs : d-a
puny pole nya hangs 6
imagine
'

a A- sum u r

Karna d-a ada tian tanda Cga panga pole at RHP maka
ga pangs
ga pagan
d '

""

in

¥7
¥ ×
-

\ .

,
\
,

/ e
- L
X
'

y
PRSiskenaretz.am .

÷p§js%Y÷

T.is#o=ItsIo--st-sttoCCt)=i-e-wtTRisetime
Ccs) -
-

Settling time
time constant
to Tn ZAI 9225 Ts Ia o ,4s
-
- -
= - -
-
-
-

- -

5/18 -

51g she
(a) Gls )Es¥st , pole -
- S
,

52=-6
=-3 (G) =
Jt +
⇒
"
njw Clt) -6T
Ip
¥0 overdamped 51g e- type
-

-
-

→
2-
poles real
-6 -3

?
Iw at)= .
.
inverse
laplace
5+77144
.

(b)

,jg⇒+sr
.

Gls) -
-
underdamped x -
1116

" "e
"t) -
-

E -
tttt
's
o

if =-3 3fsj
X - - 11.6
top

a'⇐¥¥i⇒
-

sittin
she:S!÷÷a
'
" " ""

indamine '
cut ta qws4t
iqfz
-
-
-

s¥ )
, 5h42 -

s
'

(d) I
4¥47
critically damped
(SHOT ¥-1 )=z 2e
at -
- "

Inte
-

e
"t

#
'
-

It¥t÷ Cst 'd

'

-
s -

'
SCSHD 1007=200
Atc - o
F- 2
= Als 't nostro) 1- Bstffsflos) c= -2

WATBHOC
s¥stb=5¥6
o
-
-

Gls) -
-

40+13-20--0 .

g }wn=rb
=fb=4y
13=-20

5- Irb ÷,
-
-
-
-
-

IE
Ts voloaiteion
=y÷q=%z →a

56aitaw"¥g=g%g=
ion-g3-wn.gs#=oq=zsYo0S--eFExlw. 2eio6YoTp-- -
-

984¥
=
 Tofu y÷*
-
-

strung
-
-

:::÷÷÷nk÷÷.÷÷⇒
013935 ⇐
lift
pile jo
-

6tjP I -6
-

- -
-

.
-

it .

Los e xlw
9,416
-
-
-
-

197,14Gt 't)
Gls)=
Csiro)

a) .

GO.es#fc,+Eog/-2t-4ri-D.GlD--Csta3FsTstgo)-itrgj t
Ir
5=-4
5=-15 ar 4>
-

i
-

s
-
-

. .

typAkw
father to the left
ar = -

G- ( 5,2=-10

1051716+7)
c) ,
"s) =

s¥¥¥s=Ft¥t¥t¥ (statued
( st6i5)

=A( 5736155+3955+1300)t
18517kt
53+6,55+305+1299197
13157305+2007+(6726,55+1305) -1
19542Mt

13W
( 5416155 +655)
.

1299,57 13=-013
A =
BtctD= l
0,9gal
-

c
-

q us
-
-
- -

karma 13=-013 , @t6.s7qunyspeganh30Bt2bi5Ctl6i5Dt-36i5g.qgg

+6513=-209 Bt 130C
Ty
Wo
tehasilakhr ,
 Cst 6,5) Costco) ( stud
197,14 Gtf)
d w
Gls)
-

Gtb , g) Gto) ( Stw) ( 5730 star ) ⇒ s't 6195+305+2075

=

St big )
(
+ Zoos t 1380

cost -
-

sYsI!%f+w ,
-
-
1st '¥gt¥t¥

197,19 s t 1379,98 = A (5736,95+4075+1380) TB ( 53+305420 Os)

+ ( (5426195+1385) t D ( 5716,95+69 s )
Maka Btc TD =
l B o, of
-

=
A
-

= o
, ggg ,

30.13+26, get 16,9 D= -

36,9 C = -

leg
Wo B t 138 Ct 69 D= -

209,86 D -

0197

pengamh B Kecil maka , ( Stb 9) dapat diabaikan pole

,
.
- zero cancellation dapat
dilakukan ,
apwksimasi second order VALID
=

↳ net Ian inverse

laplace no 2.6
20
Gcs)
-
=

s 2+6 s t 144

20 A B
( (s
) =

Esta
=
J
+
Ist

xo¥4bstD 5¥ scs 'tbst "

= -

E
"
=

stig -

E s 'T
=

5436--5/36
Ertz
( St 3)
-

% '
3ft
Its
X

Ccd I F. ¥t¥
-

.
-

Ffp .
In
-

Gt3) t 135

maka " "

ca)
If Ie aosfsrsrt) Topi
-

e- Grist)
-

sin
-
-

=
 180180€

:÷±*fi ÷ ÷
PR 3 Sister Kendali Adzhanizalfa A .

"
Ia::*'s:::%
'

Esto 1-
Ccs)
-

'

.
.

-
.

j kompleks, maka sisters

Berdasarkan diagram 8-stem
dapafdiketa -
-

UNDERDAMPED
hui :
Tika diberikan input bempasetpnnchondapat
Ccs) =
Is ( s¥ ) diketahui Ccs) adalah :

sestet =
st -

¥ "D= K¥67144) It sat¥I =

jikadilakukan inverse transform laplace unlink d. mana

sg¥÷q 2,404-15465+144-646832
(5465+144)
=

Ccs) didapatkan :
,
maka dapat d-simpulkan A- =
5/36

cCt)=4-e-wt)u B -
-
-

Fo Cst)

sehingga
Time constant ta To
5436--556 STL
-
-
=

C =

Timeconstant=0
S2 test 144

5/36--5/36 csI3t3
rise time -
-

Zak maka
TR=¥="2 =
HSI E. fesIt¥tcs¥)
-

settling time Ia maka

Ts=4T=0
¥+4,4117 5637¥ is→¥
-

5¥
-

= - -

4. (a) Gls )=cstz÷t FIT csIFs

Ccs) 5131 I
-
-
-
'
-

Berdasarkan Gls) dapatdiketahui Seara

:÷÷÷÷÷:÷÷÷÷:÷:÷÷::÷
Lika diberikan input bempa step function dapat
.
,
:i÷ ÷ ÷ ÷ :÷ ÷
:÷÷÷i
d. kefahui Ccs) jika sisters d- bei Kan input step
dicari Ccs) & att) ,
yaitu :
function :

Ccs) =
Is . Gcs) Ccs)
-
-

scs4 IT =
ssYs4t
5
=

Fest
=
# (I ¥4) -

didapatkancttJ-ftq-fcos4tfumakajikad.la
I Ig # Fest
= -
+
maka

kukaninvers
transformasi Laplace : (d)
Gls) daisstem adalah :
pole
-
-
-

cttj-F-fe-sttqe-ttju.IT
-

Si Sz IO ng
III.T.ie:
- = -
-

chaos -
-
e
t6sH44
ganda
-
s , maka

s stem
pole dani sistemadalahakar dani persamaan
-

CRITICALLY DAMPED
5765+144 .
yaitu :
-
 :÷ ÷ f÷ ÷
2% criterion
(G) = 200N -

settling time for

g¥=y÷o
'
S Gtfo)
Ts cold -
-

=3 Eto FET
-
-

maka d- dapatkan Clt) :

Ts
-
(
2%7=-23 s

cLt)=(2-2e-"t-2ote-wt)uH -

peak time
Tp =w#¥
=L b- F- I
3) (a) Gls) - = =

101%5
-

8
.

sat 35+16 s2t3sH6

maka di ketahui a =3 dan 6=10

Tp =
0,393 s

Ff
IIF
-

natural Wn if
-

frequency
=
-
,

percent overshoot % OS -

e × ,w
4 rays
-

Wn
.
=

-3¥
-

damping ratio J zag ÷ e FHA

-
- '
- =
,
= x too

Yo 05=9,48 %
} -
-

÷, f -
-

too
#

settling time (4) (a) Gls) =

(SH 5) (5t4sHoD
↳
for 2%
criterion
=g¥= 3%4 akar akardominan dari per samaan ini adath dan
-
'

5+45+100
Ts ( 2%7 =

Iz s Persamaan .

yaitu S , ,z= -

zt4rj
akar non dominan adalah 15
Sz
-
- -
-

↳
for 5% criterion -
-

Fun
=

3%4

""

percent
÷
overshoot . % OS -
-

e
-7*5 × too
dominan dani
:÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷ ÷:÷ ÷ ÷ ÷
persamaan 5t2st go , yaitu
.

361T
ltrgj
-

-
S, = -

=
e
Fti xioo
,z

d- kelhhui
Yo os =
28,06% pula bahwa pole later non domi -

taletak pada 53=-4

-

nan

(6) It
Berdasarkangam

ftp.g?.o. . #S,---6tjedan
-

X je Kareena l
53=-475 maka letak
.

bar , diketahuibahwa -5
-
-

' -
,
-
'

dominion masih terlaludekat

pole non

Sz = -
b -

jo .
Maka
deugan pole domina Oleh Kareena itu .
,

x -
je persamaan denominator TlDAKD wntuk
apnoksimasi orde 2
g- stem adalah
je)
: ( Sto -
( stbtjo) 54125+100
g- stem iwi
=

maka didapafkan a -42 dan 6=100

- natural
frequency ,
Wn

Wn
=

=
if
10radIs
= Foo
Cc ) Gls) =

(851716+7)-(5+615))
(SHO) Gtw

→
untnkmengetahuivah.cl/tidakuyaapnoksi
-

damping ratio
5--2%6
-
-

Tiro
.

mencsnet
mas orde 2
deegan dengan
.

Zero
12 3

}=T= pole non daninan ,

pertains 2- hams d- can duh
'
koefisien untnk Kar
musing
-

musing
a
pole .
Maka

hams di
partial fraction expansion untuk
.

can

step response Ccs) :

185171 ( Stt)
Ccs) = -

Cst 615)( Stl 076+2075

=
It #,st # # t

asset shift :#
-

= t

Berdasarkan partial fraction expansion dike

tahini ,

pole (St 615 ) me mi ti ki ko efi si en se besar C 0,3)

-

yang
barada d- orde
yang
Sama
deng an
koefisien
Cst 465) tidal
lainnya .
Oleh Karens i tu
, pole
bi sa d- covet
deng an zero ( Stt) .
Deng an kata
Iain Orde 2 TlDAKVA
,
aproksimasi
Cd) Gcs) =
19714Gt
Cst6 , 9) Cst to)Cstro)

timba d
Menggun akon per ngan yang
Sama
eagan
Soul Cc) Kita hams tan
,
men Cari
partial

÷
:÷ ÷ ÷ ÷ ÷: ÷ ÷ ÷:÷÷÷÷÷:
Diketahui bah wa Koefi si
:
en Cst 6.g) adalah C 907) -

yang terada pada

orde lebih Kecil di
yang ja uh
-

bangKin Ko
efi Sien
Kin Maka pole Cst 6. g) da
nya
-
.
,

di cancel
pat dongan zero Cst 7) dan
aproksimasi
orde 2
VALID untnk di la Ku Kan .
 Stability
5) tambahankestabilandengan
0540120
Routh -
Hurwitz
÷g÷j&÷
↳ I ban's
isinya Osemua : ada kemungkinan sister meariliki
pole d- sumbu

imagine
exl .
AG) -
-
55+254+68 Hostos the

label mouth -

hurwitzny s5 p g g terjadiuntukakargeuapiada 3 kondisi

)
S4

÷÷t÷
2 10 12

.
s . - o

sage K2 ° .

'
s O O
( unstable) ( ( unstable)
marginally,
O

so

auxiliary polinomial Pls) -

- 572 →
P÷=2s .

sehinggaitabelfouthnya :

S5 ii 's
'

t.IT/jsMsdeiEIEanl:.EE.7;&q
6 8
"
? ottuonsinaipoy .

Ss :
AG) PCs) RG)
)
-

T
marginally
-

stable
-

sister
'
T
-

S " o
-

⑦
-
-

YPG)
- - -
- - -

2 O O
↳ ada d-
snmbuimajiner 53+25745+6

{
'
2
'
5 z O O

pls)
'
↳
poles Sanya
-

dimaria ? 542 g-
55+254+65710578542
55+253

t It
" ""

acst-pcss.pe ,
← If.ES#z+qs+ ,
-
-

(542163+25+45+6) 457651ns # 12
✓ I 45+85
↳ di
-
-
label fourth bag RG)
akaitnya
-

an
65712
d- snmbuimajiner tidakadapembahantanda
.

65712
Ijr Sir ↳ Sumba kin
-

pole d- T Senna
'
-
-
.

-
d
untnksistem Acs) Kita 2-
pole d- snmbuimajinerdan 3 poled LHP
'

punya
PIDContwllerfosho.io If}
'
Ii ,°F,
↳ babe
hefenensibanyakanbuku Ogata
DPID controller

pkoporh.my/integra# derivative 3 diesnaikan ul dapat nesponyg optimal :p noses

tuning
controller tambahin minimal sir tambahin
↳
awaluya pale proportional integral ul
-

me .
error

derivative untuck mempercepat sister .

→
general form

DCs) -
-

Kp t
KI t Kps → dani buku Franklin

proportional t t

integral derivative
d d d

Dcs) Kp ( it t Tds ) dai buku

ogata
-

→
-

Wls) → disturbance (noise

-

ft
controller akan tons
kerjs
Red -
O f
-
Fantasy -
minimalist

1--1
Dls) untuck
yes)
T me
-

n
error
control
-

signal
.

°
) Proportional controller
↳ Saat
¥⇒ linear maka
¥ =
Kp
→
dapat digambarkansebagaisebuah amplifier .

A
kP
misal GG) siskin orde 2 =

¥s+a ,
-
Kita tan jugs ¥ =

It KPGLD

equation nya T→
↳ characteristic GG)
= I
tkp =
O

'
ftp.st#+a-- o
.

sztaistaztkp A -
O

=gz+wz}w
Kita tan ↳anhinga
jugs
'

Gg)
art kpa = Wn

,
bi sa
mengaturfnekuensi natural

↳ siskin tipeo → ess

-
-

It denganmengatur Kp
Kp TT ess ft .

DPI controller
→ until dapat akurasi
steady - stale
Kupa extremely high proportional gain .

ult) =
Kp . et ke
felt)dT
to

46)
KP
t
t
tip
=
sisters nambah I
⇒ →
 maka characteristic
equationnya

kpstkt A- dah
y t - = o
error
steady statengs
set a, tha

jadrkeail@6atumnins3taes2tazStAKp.s
s

T.sn#denganngaturkp&kI/
Sendai
per
Samaan error
t ke A -0

T"
2 snkuini

D PID Controller

kpetkiftgltsdttkpe.it demyan ngai

)
characteristic
ult) -

) equation nya ,

Kita b is a tan bahwa ada 3 term 6

-

sa
yg
.

d- atm
=
Kp t
KIT kiss Sama controller

Kerim
pulas : ditambahin PI controller error semakn Kecil
wakhi '
PII controller ebih
l - hes
pon bags
-

transient
D Design response
method
of a PID -
controller
system .
→
untnkdapeh.nl error
steady state .

→
Ziegler nichols
tuning → unhrks stem model math
yg syah dopetin
-
-

→
analytical / computational : Koot locus ,
bode plot nyquist diagram
,
TF
↳ Ziegler - Nichols
Tuning .

↳ first method di bei Kan unit

lihatnespon step sebagai input
transients
:
.
.

Keena Is stolen
g integrator - ada .

parameter
CP
dai

bish
nyah
Kp Ti , ,
Td Senai
F '

a turn Ziegler & Nichols

↳ second method .
 :f÷ i÷ ÷: ÷
Adzhani
Kui's
-
2 No .
I Zalfa Aliyadin
18018018

6) batas niki
Kyong membuat s stem
-

stabit : makatidak boleh ads

pagan tian
tanda pada kolompertama
a) Tabet Routh dam sisters
'

214
-

0125k> 0 dan 4k > O

→ 5- stem
ditinjau dalam Konda dosep
.

hams .

⇒
Cashman feedback Kareena tidakada 24 -0125k > 0 ⇒ 4k >o
loop ngatif
'

k> o
di sod) -
0,25k > -

2,4
maka TLD = 0125 KC 2,4
it Gcs)
KC 9,6
kata) (s 't les) ( H2) maka a- stem stabit niki K hams
=
agar ,

¥¥tzj¥XCst4) memenuhi
o
TG) = kCs
( stirs) Cst 2) tkCst4) c) .
si stem
marginally stable jika
=
kCst4) 214 0125k -
= O
-

s 't 3,25T C44tk7Tt4k maka sistan akan

marginally stable untuk

:÷: ÷÷÷÷:
n

"

:c:
"

9,6Gt 4)

S
° -

13544 = C
= -

S3 t 3,25 t lost 38,4

-

b
pole dani TCD adath
Amana
b =
-

(44-7,68--3,215) S
,
= -

3,48
3,2 Sz = 914T 3,3J
7,68
-

018k
214 0125k Sz 0114 3,3J
= = -

↳
-

C = -

C 4kt) makafnekueusiosilasiadalah a- 3,3radf

4k
-

b- =

table north
maka
yang lengkap
S3 I 2,47k

5 3,2 4k
'
s 214 0125k -

5 4k 0
I
 /
Adzhani
Ku is
-
2 No . 2 Zalfa Aliyadin
18018018
a) tipe sisters adakh tipe I
sehingga
.

dili hat das

'

G G) =
4L ess
-

Ia
.
=

f- =
q
scstl ,DCstD

Amana ada l
pole ygterktak di origin .

b) ,
uh fuk k =
5

kCst4)
math Tcs) =
-

s 't 3,25T C44tk)sF4k

=
5 Cs ta )
-

S3 t 3,25+7,4 St W .

files melihatjawaban pada nod ) ,

Kyong
di renta
dipilih masih ng
OC KL 9,6 make a sister

masih Statoil .

Ink input step function 148=5

÷÷÷÷÷÷÷÷
"

"

"
"

→ un tuk
input ramp function 12¥ ¥
Ku Lim Gcs)
-

s
-

↳ o

l im 5Cs
Cs H , 2)Cst 2)
-

-
5-70

=
5-41,2 - 2

2537
-
.

maka Ess =

¥ =

Isr
→ un
tuk
input parabola RG) =
453 .

5GW
Ka jig
-
-

s C 5 Gta) )
YE
EESTI
=

=
Of
PIDContwllertt.zfogho.io ,°F÷g§&i,%
D Ziegler Nichols
- (review)

Kalo
→
punyafungsialihya lebih baik
pale to de k → bode
plot (root locus
-

, me numen

→ Kato Tf fake Ziegler Nichols

ga puuya aye mending
-
.

Fcs) -
-

Kp Ks) →
proportional
%fE-lkpft.tt#slplaItI- Ccs) controller

✓
-
Els) derivative
Rcs) pengendali
- =
→

↳ meto de Ti , Td
Ziegler Niches
untukuycri 3
parameter Kp
-
:
, .

based transient
response characteristics of given plant
a
experiment
→ on :
.

Go Cs) -
-

Kp Cit
+ Tds )
nebak di awal tapi hab B ith hams d
tuning lagi
'

↳ me tode ul .

first method
Kato orde l ada kung
Ct) l#q⇐y
-

r
q
ra.it#--IeIT
s
unit step
iiattrespmtansienuya

{diamasykntemmusygadad #
controller
targeting set dah
dapatnilai TEL ,
ate
Sepang:p Yang
.

Secondment disetnya :
Ti = no
,
Td =
O armor
proportional controller .

Kar → niki Kyong bi bin

617¥91osilasif
di sumba imager
statoil pie
sistan dani
^
menujnlidak Hole
↳
Kor closed
Kp : o→
Cpihdeh di kin
.
loop .

statoil
ke Kanan)

i¥÷÷÷÷hg:÷÷÷÷:÷÷÷
henghasilkon output
↳*

) Ziegler
°
Nichols untukmeudesain PID controller .

misalnya Kita pale meted

%
OtGTµ÷¥¥ Ccs) kedna waka Goes)
-
,
-
-

Kp
Rs

✓
→
+ I -
- -
→ un tuk meta de tedua . can
'

TF

dalam Kea daan closep loop

Kp dramatists
→ ⇒
equation ng
-
= :

pls) S3 t 65 tsstkp -0
 Kato d- bust label forth Hurwitznya :

S3 I 5 hams
supayasifetnyspunyapoleimitiher ,
afmasnkin lepers .
Charu .

gz
Ammi
f
Kp adat
ygnikinya O
now

=s3t6s2t5st 30=0 .

g, 30-121 O
makes
304642=0 ⇒
-
( Kp -
- 30 -
-
Kcr s
,
= -
G

(
Sa 2,23J
Kp
-

so
-

I !5q
Pcr 53=-2,23 j
dapetnyat
=

w
←
#
auxiliary polynomial =
2,23 ralf
yrs
=

|Pcr=2#
udahdapet Karwar untuk PID Controller
.

, can

÷ ::::÷÷÷ 's
Kp
"÷::÷:÷÷÷÷
0,6 Kor
-
-

.
.
=
lot # +6,35
S
z

÷i⇒a
.
mantis:L:p
:÷÷÷q!"""sst
RootLocus:GeneralRu# ay, o
'
w ICI '§%& ,÷g '

→ matai UTS
nyampesini
7 Root locus
↳ transient
response &
stability are determined by the location of the closed -

loop
poles
root locus the
trajectory of the poles d-
spakement

q→④→1T¥g
is
→

k
as
changes from o → N

ITE
- b
very useful in
analysis &
design of stability
and transient
response of acbsep loop system
bisangel at untnk niki K temps Statoil
lga
yebabkan
-

area
→
yay
Statoil
ex / ada
.
Sistan Konkol radar
dgn characteristic
eq .

5t2st
Maka s =
-
2 I TE
2- →
Onate
S = -
e I E. →
Kalo 5-stem bra
sanya 1-
tuuyaakar Komp leks .
untuk
yg cama pu nya 2 akan

root locus
↳
dargan #
,
masih oke, Tapi Kalo
banyak ,
sushi d-ai .

peu di s T
roof locus
Kita
manfaafin wiki Gls) Hcs) mempermudah .

:C
=

note :

i÷÷÷÷÷÷÷÷÷÷÷÷: ÷÷:÷÷÷
"

nagger 's:*
'
or:*

w
name '

bacalag

£%I & ÷E7I ÷ q

→
phase angle
.
masnihde ?
⇒ ← *, :p. samaan pain . mid .

NEGATIVFFEEDBACI.ly
HARU S

Kalo 2 fond -
si ini
terpeuuhi :
Po si si terse but bags
-

an dai tajektoi RL .

-
kGt LGCDHCD 01 , fi Az 0-3 Eg
-
= - -

Gcs) HG)
-
-
- →
( stp ,) ( steps) Cst Ps ) Cst PD

simetilehadapsnmbu real l Gcs) H G) I =

KBL
Kaeo indah depet bag
-
an Ai Az As Ag
D- alms ,
dapet
jugs bags
-

an

ba wah .
) General Rules
o
.

jumlabcabang root locus =

jnmlah
chance I TG G) Hcs) -0 akar samaan karaktaistik
.

eg
→
per .

atan
p + kcstZDCSTZD-i.AZ#kmulai dan .
o → o.o

Cstpn)
(
Stp e) Cstpz)
. . .

→ controls goal

¥÷÷÷÷÷:
s.
"

syaratl sndut:
.

- f -
-
-
180 to to
= -
Iso V
Tape
Kalo titi Kuji di
.

Tu 3 think too Goto

LT
→
-

2
= -
360 ( bukan root locus) d- symbu real ,
ada

locus
gg root

-c¥÷
-144 → D- total = -
Cao Wo Ipo ( - root locus)
y
- -

⑦ "" "
t

.me .÷:*

x#
. . . .
.
.

.
.
.

Tax
,

÷÷÷÷÷÷÷÷÷÷÷÷
dani L

aaimtotoya
STEP 2

t d
a
boo 1000 .
-

go
id
"

mi
⇒

%aE.io?.::iIi
'
?
step 4

UTS sample gombar

=
foot
To
Locus
Root Locus
pt Ziggo
.
'
20
if} & '
Tpg
D Meng bar roof locus Cstepsnya )
gam .

→ di conto h tamarin k_
:

Gcs) =
-
Jan Iup hams menuhi Zsycrat (sndut dan
S ( Stl ) Cst27 .

magnitude) ( negative feedback) .

angle : Lacs) =
-

LS -
Lst f -

Lst 2
=
I 180 ( 2kt 1)
"

,
K -
- O ,
lez . . .

lscksf.ge#--l1.Menentukan
magnitude :
Iacs) I =

root loci di snmbu real .

jw fake syaratsudut

g#¥o
Menentuken RL Cs → a)
2 .

asymptotes dai

↳t5I# mmaf-tmkpok-o.mu
}
Ga -

- =
I
-
= -
i

ybanysk
=
pay pole dayak -

zero

(2kt 1) I do
.

D-a ⇒ Go ; Ipo ; 2 Clete ) a-

=-3 boo
-
.

=
p de
k
bangs -

banyak zero
3 .
Menentukan break - in / break away -
.

kareena mask ke daad

dipilih
ddIg=o
→ 'hi

( Sj ? 014,2
temainddapet : Yg
root loci
y
-

K-
42,8 K
-

0,38
- -

4 Menen tu Kan title d- mana RL

.
memo
Tong srmbu
imagine r .

↳
pale buth hurwitz , k bilan d-a di snmbu
Cai
yang imagine .

titik d-
S =

tjw →
potong snmbuimaji her .

Kkk nji A setter Sumba titi Kasal ? ? ? → tisa d- skip

5- Mean i .li h Khayal &

start &

jargon lupa aint

*i④÷÷÷
g constant
-

:S ..

Ts constant
diketahui jugs

:?a÷n :*
"

a . . .. .
.
.
.
.
.

cost : E5 Chams
ngai
niki
Kuya) .

:* .fi?.ii.;samtnomieksosne
= Ibo
'
I
.

g. fry visa "

:b .

(
Stas tb taster
-
s
-
-

in

www.s.a.wi.n
.

3--95 haka Gta) ( 5429 wnstwn)

= Esta) Csztwnstwn )
'

-
't ( wntast
s ( Wn't awn)s fawn?

pes.rs/haraktn-stiksCstDcst27tk=o--7(s2ts7Cstz3tk=os3t3s' t2stk -
-
o

la=
-

waka Wnta =3
} =3 Wn →
a -

'

Wn2taWn=2 Wn't ( 3-Wn )wn=I

'
awn =K
k.
.

3Wh = 2

lwn -
dai situ ten
jugs :

→
s " 2=-5 wntjwnf.gr

Wgn I } , , = -
'

z
-

E II } FIT
'

's 's ¥rT

:-.
Sir = -

01333 I
j Oi 577

(sestets I =

If nyebabm
g- Ss

9-
qE7Ee
:*
"i÷÷⇒
K -
-

④Gti) .
I

q Jada ptfe Oke Sl

¥35 *
A- 0133 ?

.. . .

÷ ::÷÷.÷÷÷t
"

÷ Kasi .

orde 2
 if] FFF ,°T
'
'

Root Locus Transient Gain

Response
:
via
Adjustment 2%20 ,

↳ and sa tansien dani

gamba root locus udahdibuat
-

resp on .

gang
EH K (s
?
4 stud
.
KC s -
2-
4J ) ( s 2t4j)
-

Gcs, =
- =
-

( St 27 Cst 4) Cst 2) Cst 4)

g RL crosses the 3=0,45 lire at

°

3,42116 it
5=0145 with
0
k 0,417 (
gain syaat magnitude)
a = H
x
overshoot
corresponds to 20% of a second order

l system
kearanin
④ di sod ditanyain kefika
critically damped ,

•
the di Kkk breakaway Ck arena
pole nga ganda) .

example 2 :

hams
jnsh-fika.si pole -
zero

cancellation un tuk b isa

% orde
ngai
Os
pale minus 2 .

452%0 Cai B di RL
biking
s → →
says
-

- .

I :÷÷÷:÷
man
ngelakuin closep -

- loop pole -
zero cancellation

-
(
yang cukupmeudekati

:* .

④ root locus :
trajectory pole

→
penambahan pole a fan menai k RL ke aah Kanan ( RHP) → humorin testabikes
=

g- stem .
settling time
Jirga aka memnskht Ts -

I g÷ny makin ke Kanan malan Kecil .

Komp own neat

menanik ke LHP sister lebih Statoil clan men

penambahan aban
-

→
→ zero

perupat settling time .

-
ini ada di matai kemarin ?
 7 Generalized RL .

kik bikm
pi sebgei forward
man

""

0-1-1
"
Ccs)
path gain
→
→

✓I
n .

%, .

it Gcs) HG)
10
TG) t
ITS )
=

①
¥tot¥p
=

y + Lt
k£
-
542sty o
S +25+10 ate
bawd
=
FILES make ovation .

97.2¥) 91937
- '

' t"

posisi the benbchtapiterhadap PI

x- -
I -53

Exercise

→ ini
yang menyebkan 3=0,4

in
tiny a Kalo man buat foot locus ,
jadiihvaiabel yang
akan din baht
Sebago :

faktor pengali
⑨ began pole -
zero cancellation ada kelewat
yang
→
specific pole zero
-

configuration . → RL
for positive feedback system
 Design Kompensator w/ RL oy, , '
20
if t,÷
Stetson KL udah d- that w/ desai kompensator
guna
→ in
gang
n .

D improvement -
Sunan komponen calm
deya?
active CPI)
gnneihkomponenpasrf
steady state f passive Clad I
.

active CPD)
- transient
response
→ passive ( lead )
active ( PID)
steady state& transient
response f
-

passive ( lag -
lead )
why is compensation needed ?

by
intinya Kalo Kita :
man

Sistan mean i bi ki specific asi

di B Tapi RL me hntasi
,
ga

Jagan
nam balm
ti tik B , waka root locus
nya yg a

-
-

pokfzeno .

hams nambahns
d- u 64
deny an

g-
pole -
zero
configuration .

Sta
→ 3
purposes of compensation -

improving transient response

-

steady state Ttb

transient state Sta
response& steady
-

Stb .

cascade aka ke
or
feedback ? ditaw di
forward path ataupun feedback nganh pole -

zero sisters .

a) Steady state
improvement . → add integrator to increase the
type of system .

2 common
techniques :

ess bi sa O

ideal Intef Gc G) K (Stf)

( pole at the origin)
-
Kato ideal
=

oaµ- a
sangat deKat dugan origin .

passive element reduced

*
-

: ess .

( near the
pole
origin)
cross .

7¥
di tambala Gacek
?
Kato

§°m
cama te -
.

Is ,
transient
response
bembah
Ya
" .

-
.
↳ d- tambah.in Zero di
.

%Ee.se
.
.
detent origin bi sa
supya
 integral

PI controller
fF¥f proportional Ccs)
Gold -
-

kith

R#q→T¥t0→④T -
-
=
*
Cst
-
ET )

KIT
-

hams meudekah -

o .

example :

bentukakhirnya .

I
÷÷÷÷"÷
"" ess '

" '
on ,

÷ .
. .
...

* :stem betambal
-
.

Karna

III
oq#
Gds)
Lag compensator
-
-

Ze

"
"
as
^

✓ y
n
-

✓
-

kompenscsi

b#compensation
2¥
stings GG) =KZF
> 1 maka
state error constant → ku , =

Pi Pz - - -

kva > Kui sehnggs

after compensation
,

g
IT
=

④
2¥ k¥?I Zfc
ess
Esses esse
-
-

Kr ,
constant skin
=

static error =
.

the
effect on the transient
response can be
negligible ( Kareena Zc & Pc detector)

lg%nIThfE
example : -

controller tuff

5) Transient Response Improvement

→
proportional -

derivative CPD controller) Gc Cs) = St Zc

↳ better performance , but can

amplify the high frequency noise and

active elements
requires
→ lead
compensator Gds) -
-
K IIIT
elements Less
↳ reasonable performance and requires only passive .

sensitive to high frequency noise .

PD Controller

-0

)se*;¥÷::
- -

nambahn
inknya :

ten nengkompensaei

transiennya .

example :

eminent
'

It
✓ hams
MASSU ditambahinsnpaya
← ietak zero
yang
=

\ a-
anguine
meme .

but gaisnyad.ph nu hi spesifikasi .

""

1am :* 9÷E÷i÷Tt Go St 3,006

{
* .

.
.
→ =

-
"

Gds) -
-
Kzstk, =
kacst ¥)

matai
pelajain Babs Samper PCD !!

•
 Design kompensatorwlklpt.se ok,
no ICI '
iF

) PD Controller
°

& Lead compensator .

}
benapa pale lead
compensation
d- bonding PD

E -
-
ideal
.biz:& .

#
I

→ lead compensator
Goes) -

-
k
step ×'¥ ¥4
↳ additional pole far away from origin .

↳ less noise
amplification
possibility
Ac Qu fi
-
- -
.

liken Lethe teeth

→ penni effingFadeless
H static constant
×#¥xx0
error

↳
required again he reads the design point p, z,

Yfjnsti f- calm of
second order assumption

pack
:

St4496 .

( kkhysdttnjn
snpaya Ac
→
= ego

Jedi bag
-

an

RD
 '

it I w
I
-
a
•

Design kompensator w/ RL pt W 'T Fs ' '

.

f)
'
. 3 094 , w
l l

D steady state & Transient

Response Compensator

III!! !
" ID on toiler

lag - lead compensator

→ PID Controller

uncompensated system determine the improvement

steps : -
evaluate and

needed .

design the PD controller → includes the zero location & loop gin .

design the PI controller to yield the required specs .

determine
gan Ki treks
-

simulate evaluate
-

↳ re -

example

task
as)
"
Tp E Tp
-

,
-
Cst 3) Cstb) Cst to)

↳
n
- 20% OS

zero Ess for

vest .

evaluate
Jawab : step ① uncompensated system .

x¥
US = 20% #
51415 t j 10157 makes uncompensated
-

9--9456
K -
-

121,5
Tp :

lui 57

xoxo
.
g . .. . .FI:7: :S .

(5)
'
6487
- '
Cos =

step ④ :
PD controller design

jodi Yg Ipf %T÷p

burled maka Wd 15,07
Tp
→
-
-

- - -
=

# we
dm 8113
requirement
o = -
' -

OS
seal Isu pay
- - zo
% .
 Kareena Al Wd dam hams ditambalin the bar Ira
e
gang ga di Rc ,

mahnke be RL

sndnt dai loop pole 198,370 Smpaya

& zero →
Senna Giza measure
-

open .

RL hans ada bouts busing let

, zero
gang 158,370 -
=
181370 -

tar 18,370 =

4,1--151%5
od-
-

a
→ X
-

55,52
f .

selnuggn diketdrui PD controller

st55
thuya neyadi
step⑤ : PI auto Hr design .

Panky debut
pole pole di origin
stoss Yang w Sama

Gp , g)
,
=

( sup
ya
-
less anklets →
)
o
.

step ④ determine the

gains
:
.

dah
Gpp G) k(st55
stays }
u
punya = St 55,52
Gpus
Kan
=

GREG) :
k
'

dominant closed -

loop pole di

Gp , G) =
4164+55,5274+-0,57
S .
( PID controller =
4,6

→
lag -
lead compensator design .

steps : - evaluate uncompensated system

-

design lead compensator

evaluate state
-

steady
-
design lag compensator .

example .

Isf Tss I Tsu

-

k
yes)→ EG)
t .

1--1
o-
-

s Cst 6) (s Ho) OS 20% .

tune test
 step ① evaluate uncompensated system

g
"

El =
= 3,587
TEE Is, = 2,23
-
-

"

I. 2123=1,115
Wd I tan (62877 .
3,507
Tsc -

{
Tsu -

-
. s .

7
-
-

Seletar compensated
El
tfwd =
-3,507 IJF .

step ② lead compensator

=
design .

'
All I
j
Wd =

- 3,588 I 57

Gina de with loop poleat

select
arbitrarily compensator
zero at -6
-

open
← =

brsaditcntnkanletak 6)
pole
-

waka .

↳ Eel '
bare
yay parting kontibusihrdntnysmenyebabkan ± g-woe
gong
mash he RL → ardent dai compensator pole =
151350

naka
¥9¥ ,
has 1545 →
Pc=-
make Gaea G) =
kcC
( St 29,037

step ⑤ : evaluate steady state performance

hitmsggansebelumksmpensasi
waka diketahui

lscsktacstols-I.at#y
↳ dapet niki
Gcs) -

Fest )
K
=

sCst%¥
¥
k uncompensated
§g Gls)
.

maka ku = s = 312 Ess

-
-
-
-
013125
-
Kishi
uncompensated .

setekh ada lead compensator :

→ bi sa d-i tug lag -

gun K
& Kv
wya .

K ¥
Foz th
'

-
↳ Gcs) Gc G) ay
'

s¥csµo )
=
 K
G G) =
-
→ big a d- hi tug tgi gain k .
dargan s =
3. see Ijf
291037
-

Lc SGH 07Gt =

nantididapat wifi k =
1977 dar Ku -
-

FI s Guts)

Kv =
61794
Amann
Yang ess -
-

to essu; natan Ku -
-
32 .
Dani 6,754*32 makes

1577

st"f4Y
G"
=¥oXs+%p Hedy ban -
-

4719
Gigs)
=

waka
k Cst 0104713)
&
Gue =
-

s ( Sho ) ( stag PCs tool)

, .

--②

OVERVIEW

terahhradatentang NOTCH FILTER

=

↳coda baca di bake

D. physical realization of compensation

-2267

fM¥cD/ '

-2-263.7
bed all ÷ii =

z
.. .

Kalo active amp

→
op
passive
→
capacitor .
Bode Plot
uh , no ÷qI§5 Te '

haha
magnitude frequency response

M (a)
Mohd =

Mi Cw)

phase frequency response .

Glu) -
-

Gold -
Gild .

g analyticalfor frequency response '

Polar Milli Mi EE fi Tai

typology
-

: = e
-
-

input rtt) -
-
Aas wt TB smut
→

AstBw rectangular form A -

jB
pecs) =
Jdt
s 't wz
enter 4 formula Mie
-

ban
→
panjsngnys
rn

lekhmndehpakeapokaimasiadasematu.gg
manual msd ,
→
ngeganrbain
normalise &
namangan
scaling .
Bode Plot
pt.sn 16h ,
no
g 9%91,4
,

D Normalization

41 .
Gcs) -
-

scskfs.IT#=hgeqcsy=KkC%fDSCstDC4ztD .

break
frequency pads 1143

pls refer to mise

tu en dah blah nencatat ☹

AYO N'HET MANN ! !! I if

D Performance Specification &
gain adjustment .
w/ Bode Plot

tansen
letzte dominant deep loop pole baled
nganh.in resp on

↳Tgwu Kiri , Ts Serna kin Kecil Berthier balik

ma tem
.

puk se
nye .

stability :

gun margin
& phone margin .
Bode Plot pt 3 ay, -
'w

if } & '÷g ,

DTransient
response specifications .

'
n' v

fm%Ii÷
-
ur

Kalo d-can wiki mates nys ,

'

" '

( -2Wh tuft 432mi )

'
Wn
du -0 ⇒
-

dy -

¢WnZw2)2tqz2wnzwif2=°
b
resonant
frequency
:

Zun 2Wh 4W
! 0
432W
'

hilaifnekuen.si
Ffi
=
- -

d- Me
?
-
-

we -
wn4z5wi=o TIETJE
W = →
Wp
-
-
Wn JE
niki
puncak . resonant peak
magnitude
-
SYARAT :
} ( 01707
Sepoys lerdefinisi .

T :÷÷÷:÷t÷
" ""

a
:c:
l clan

LGCJD

.
= -

Lgu

::
-

Ljwtzewn

Qu
(zg?#I⇒
'
'
-

-
tan

hu6ungdsEttfIe.yh@nggPEke.D
←

Steady state error

specification .

at low
frequencies ,
sinusoidal TF :
450 Gcjw) :

X
type
-

of system
-
 tipe not

}%=H
→

) k untie wet
Cncjw ; seliingga
-
-

•
log IG g- DI = a
log → Kp
↳ low horizontal line leg
frequency asymptote is a at Zo K dB .

→ sisters tipe l X -
-

I untie nyai kung densa

Cjw) reader
-

G frekueusi
-

→
-
.

W
j manik asymptote
horizontal
Samper notary
↳ •
log I GCjD/ = 20
log k -
20
log w
fleet
.

psi peags
-
.

low dB wdB/
fog asymptote
-

has slope -20 e

-
.

.
-

dec
Kv

sistentipe
eae←
→ 2 7=2 .

Gcjw) ¥
'

÷w.%Y÷%E
we
-

'
'
for
-

↳ 20 Tks
log IG Cjad =
solos K -

40 log w
f q
wya

→
low slope God Bldec
peg asymptote
- has -

Ira
 Bode Plot
pt 4 .

2% ,
so ÷g § ¥1,4 ' '

④ error steady state

hanyad-tenfukanolehfnekuen.si rendah .

Why ??

tuk meraih
→
Kayak root locus ,
adjustment
gain bisa d-
guna
Kan un

% Os talent
s
Pek

D Design procedure O
X - 0

STEP I
ex!
Gcs) -
-

k.sk# ¥ 's
(O O

= K -

S Cs two) Cst 36 )

} ni
' di normalise,
=

µ!?,/↳tkljadi
mish Saat w
-
- o . l
broad nba:b -

la GDI
-

→
in
tiny untnkngeset o dB di

dB) pili h
w oil
IG Cjw) 1=1
=
k
Smpaya ( o 3,6
-
.
-

STEP 2

dm
'
(2,1*+7)=59,20
'

9,5 % Os → 3--0,6 → .
.
tan

STEP 3

dm 180 t 59,2
-

w -120,8 → oui
tiger nntuh
=
Yg → Thi
- =

- phase nys
define si phase
-

margin segno w =
14,8 melts
STEP 4
birth dihaibih 4412dB log K,
rads di gragk yg gain
no
-

1418
-
w = →

Ki =
162,2

Maka k total =3, 6×1642

-583,9J
-

> K
yang
di button uymememhispesifikesi
583,9 100
make transfer functioning
.

:
TF =

s Cst too ) Cst 36 )

)
o
Desam kompensator dagan Bode Pbt .

compensator
lag →
improving stakes , increase

the phasemargin
lead → increase Cases i increase
gain
→ Ts Tp ,
crossover
-
to increase bandwidth
-

lead
kg →
-

↳ Kita pager respon magnitude

low frequency seem akin Tings

↳ k t
, ess d

•
Lag Compensator .

gamba untie
bade
in

plot
example! / ini

Kv -
-

slings GG) -
583.900
TF =

S Gt3 6) (s Hoo)
503 , 9.100
=

⇒
=
( G 22
g
Per bakery lo ku 162,2 K 5835
-

's = → -

-
ku = car
- hntnkkompenscsi ( t 5 -
12% )

019870,062

HIT
↳ saat w
@ loll
! ! 64.4.ae
o
-
-

, ⑥
-

01 062 .
 Lead
compensator
°
.

example :

-
whoa 6 Lagi ! !
aah
 Adzhani Zalfaaliyadin
PR 4 Sistemkendali 18018018

1) .
Gambarbode plot .
Bode plot phase -

nya
:

I
(a) Gls) = -
a
90
scstz)Cst4 ) § 45
D

=
I § 0
a

85 (Sgt 1) ( Eqtl) 45de4dec

)
-

g -4g
f
-

90dL -45 dtegldec

1-
,

←
-

go -

⇐( ) ¥5de%e
Jw
=

8(jw)( Jwzti) ( JIT te)

.

I 100 1000
011 10

Bode plot magnitude nya :

( st33Csts)
(c) Gcs) =

S ( St 2) ( st4 )

o
( slsti) ( Sisti)
is
-

" "

x
"

"" =

Et - w

"
" " "" l
s
( State ) ( Sati)
) ( Mst ' )
-

( 543
.

J
"
" ti
=
E -
60 gcjwy.is (jw)( 5%+1 ) (544 ti )

80

Bode plot
-

-
100
-60dB Idea
magnitude nya
!

40
"W
oil 1 2 34 10 100 1000
J€ w p-WdB/dec
wcradls)
& o

f T -40dBIdea
f
Bode plot phase hya :
is so -40dBIdea
/ t
O
F -

todlldec
-20dB Idea
-40
z
-45
on 1 to 100 1000

wlradls )
I -90
45¥
Bodeplotphasenya
-

dec
:
on
g
-

135

Tg -

Ipo
-90
deslde ,
go

£ -

us I 45

-
45dL .
I
dec £
& -45
011 I 10 100 1000
§
-90
g ×
(b) GCS) = -
Sts
←
135
-
ysdesldec I ¥deyµ!t45d9/dec '

(STL) 4)
-45 degldec
-

( St

=
Ig(%
) ( Sati ( 44 TD
oil I

wlradls )
10 100 1000

aciwt-Ec.FI?EiIIQ.4.acss--sc4s:f:t#s=Y7sfsEIIIas ,
Bode plot magnitude -

nya
:
=8C%
atan
4655+4/255+1 )
w
et
T o
8
( J# + t
)
wand!
5
Gcjw)
Wn

⇒
maka
-

T
-

=
-
a

(jw) ttfzjwtl)
-
w

I -40dm .

'

-40 L
j
-20dB Idea
fo "
Sehinggadapatdigambarkanbodeplot
-

E on i lo too sooo

wlradls)
nya
:
 %
(a) Sketsa Bode plot magnitude a
phase .
sehingga Adapathan osaya :
1014597
-7¥
- IT

so % OS :
e e

\
x too =
xioo
40
M
-

WdB/dec

Et =
19,729%
~
diketahui beberapa
3) Ca) dan
gambar
'
°

\
,
I .

40dB Idea
8 →
-

had bailout :
-
w

I
Ip :L: -

gain margin : 15dB

I
-

phase margin : 500

I 10 100 1000

raids
o ,
zero dB 213
,

frequency
-
:

wcradls)
-
1800
frequency : 6,5 rolls
go

on 45
-
closed -

loop bandwidth : 3,4 rays .

&
Es o (6) -

damping ratio (3)

9

(&
K¥+751 )
- 45
On tan
t
-

§ go
S
a- 135 23
111918
-
-

too
jpg
oil I 10 too nooo jikadihturulang didapathan , :

w ( rads)
45424,1910/52=1.19187+454
(b) Melihat bode plot padajawaban fine Ca) ,
-

( 6,3836342--114204 t 51681534
menyebabkan 0dB adath di
huensi
yang 35,068834=1,4204
sehitar 6,2 ra
Pada bode plot phasanya pads
g. 4=0,0405
-

612 rays adalat

frekuensi phase marginnya
5=0,4486
sekitar 42 derytnt .
Maka
menggunakan hubu -

dam d.da
-

percent overshoot ( Yoo s)

ngan phase
-

margin damping ratio , -

pathan :
%os= e xiw :/
On -

goo tan
- '
Etty
loose 20,66%
- -
'

-2g

tan
- e EFF =
goo 420=480 -
-

settling time (Ts)

-

WBw=¥g
25
-254M¥
(t -

25) t
454 -
45+2
tar 480=1,1106
§
=

-23 't It =
492 . Idiot .
Ts
=WB4¥¥4¥I2
Itg =
252 (2.41106+1) Ts =
3,485
'
It 452 @ 525 ( 3,221 )
time (Tp)
=

11-45--41,50554
-

peak
aturmenjadi
-_wj¥)t4g445I2
atandapat d-
Tp
:

4450554 -
452 -

I = o

52=0,2107 → 9=01459
Tp =
1,37 S
 Design kompensa for deng -n Bode Plot ptz
uh, in . f¥&' IT
lanjntas bag -

an lead compensator .

I]
→

'
¥:3 .

YE:h% Heist
→
.
Hae .

see,
→
-

( 36 ) ( too)

J
I
-

ihiltanashnya
error
steady state
dilentnkonolehpekuensinenddfsjIY.FIYoda
Bandwidth frequency
→ Kab closed loop di -
3dB
Kalo 6 7,5 dB
→
loop di sampe
-

open
-

D Lag lead compensator

-

↳ ini
ga
masuk matai UAS Tapi per he dip ahem :
Nyquist Diagram &
Stability 274
,
'w
if 'D & '
g
,

contour Mapping
 § § ,÷f
kuliahtambahanhaisabtu .

hey, 'm '

diagram nyquist jugs amehitohadapsnmbu real .

500
Gls) -
- -

( Stl ) ( sts ) Cstio)

s
plane c Im
GH plane .

I
^

→
⇒

: s ÷ ⇒: ÷ : i ÷ ÷ ÷ ÷
A s I
x x ×
lo s I
-

get
-
-

u r
it :L:I% .

titikpotmg
betihanilai aslinya GD
D imagine

¥E:*
" .

.
.

'

43W w co
sudntnya
-

: o

w=r43 → manikin ke personas

↳ c
'

IGG-wt-o.FI -
- o .

gama ( Gcjw) ) = -

01874
LGCJW) .= -19079001-907
.

y.mil:77#oLGCjw
aja
= -
2700
'

DPD
lacjwy

!;→.E
=

) (40%2707270)=-510
'
= - -
-

ini Kaho diitung sea a

-
audible .

GcM=⇐tnIo,
500
-
=

(-146+30) t g- ( 43W Ws)

-

tith Potong Pehr ditheism ,

=
5W KT4hit3o ) jigsaws)) -

⇐ 46+305+5143 w -
w 'T
make g. stem stall Kaew N -
- O

w o →
Gljw) 55 F
- - -

gambain d-agram Nyquist

-
-
-

das
'

open loop Gls) Hk)

untuk case kedua
gang
Gcs) =
St

A
→
C
O X F
-
2 E '

B
j

① LG
g- D= o - (9001300) -

- -
( Poo

( Gcjw) ) =
÷ =
a

④ LG Cj D=
-
'
-
laootgu = -

go

( Gcjw) I =

By = o
kuis 3 Sister Kendall Adthani Zatfa A
Cso November Uzo )
'

18018018
1) .
5000 5000
Gcs) = - =

scstlo) (Sto)
50051%471%0+1)
O
= 1-
s
( shot 1)( Stott )

¥1
Bode zodtsldec
plot magnitude nya ,
ft -

✓ 20 -

g
g

E
f i

-40dBIdea
60dBIdea

Bode plot phase nya :

O k l

Huo
.

Foo
y l l
11 W
ST go
I
, l
l
l
l l l
l

-
go
!
I l l

f : '
i

-45 degflec ! I

I
1

✓
I
,
t

g- 459.es/dec
,
-
go des/dec :

i
kuis 3 Sister Kendall Adthani Zatfa A
Cso November zozo )
'

18018018
2) .
Hls) -
-

l math
k
Gcs) set niki K
GG) HG) e
- -
-
- - .

Sati ) ( step

Ihf Im
S plane
-

GH plane '
D

Ii:

§
" →

: k
-
I
16

c
'

plotting title
'

a) A → A I
Gcjaitkjw) jwcjwtitjutu)
-
-

1GCjw)l= =D

<
Gcjw) ( o -1001903=-90 -3nF j ( 2W his)
-
'
-
= - -

= '

'
C- 3w25tC2w -
WD
DB > B
Maka title potong pads fekuensi
( Gcjw) l -
-

÷ ,
"
o
zw -
w 3=0

wC2 WHO
<
aging cgrtsotso )
-

. -
-
-
-
W

c
' '
a- metis terhcdap A' 413 '

u-rzefek.ua?simaIqsinanyJ
titikpotoug pads
'

x = -
3crz)
-
'
ri)
⇐DICK -

=
- I
6

sehihgsa
Ks 6 → statoil
K -

-
f → marginally Statoil

K> 6
→ tidakstabil