ime Kesponse SPe afi cakio

L to ne
Thse SPe pi Cahony
1ndico he SP SPonA e
eY foym anl

asysHm.

enura,ese îndi s
au specie
Specte d
n
i s W men
PCDt o he duiqn
Contso SYskem.

nd OY deY onderdamped System

CoMi div a

Mp
Pelo fme-
The
he SPonMe
The me Requuned to
Valll a
a
final va
SO. the
YAt inst ante.
ime

h epSSion fov elcuy

t t

fise me tr Time Requuned or he

he

Aypose to i s e xom O/
dud
tinal Ualu for Cuexdamped system

+Ae ftna u a u for Ooler -

4 lo0
instanCo.
sysie mg a frAb
amped

Me f f m e : -
ep SSjon fox
APOAe
SPovuAe
th OUtpUt
e me
C
CU
Ao tr)=|
inal a l

an ndey dampe d SysH

S+ep ponee

qt)= - e Sin(t+)
v1-
ar ttr, q*) =q{y) =
 e
in Ctr t )

ntr
a
in Cty t) -

V-3
0,
Sin C { t6)

Ct t T
T- CoGS
t T-
wd. Lonv-
he poe
Tme Requüed ox
Peak time
tme
fme.
alu
uue oj
u Peak
fo uach

EpsieioN:.
AiVse
time
dÜ
the
aPeas,

3ero

tp
)
V1-3
 tp

SCntp ntP
Sn e
- n Caltp +%) CCos atp
VI-

A COS ( J tp +s) =o
S in (Atp t$) -

- ny -s2
(os tp t6) =
o
Ston in C t p t ¢ )

VI-SCos (oatp+)=o
i n Ccatt +o)
-

C Ce Fnoo CoS

n
-

&ng Cos (Atp +o)=o

(CoAtp +6)
-

Sin
Cos
o
(od p + - B )
=

n
An (od tP)=o

wdtp = T
T T
Peak ovey Shot (Mp):

dueo Co
t i a the nor m l i s e d
Aime ts
e
Pecuc
stce UaR
tdheAne steady

Smtp

Co) =
e

shcot or a
CeY
v pe C n i t on, peak

Step p o n e
y tp)-yco)
MP

Sn t?
e
in(tp-ta)

Sntp
in (atp t )
 CC not tp=
a oove
aooue

nln in
(n +
tp
SUb HAurc

Pin ( +)
M
VI-

e n CTT+ )

V-

sin

in

MP

TT/-

00 e
Mp
Setlinq Ame: ts..
he PoAe
Time Requned or
to4h in
a speuied tole
ach aud stau

riu
oY SHeady stau
na
atnd o its

band A Y Or,
.
.

Wucilly H foleyanii

Snt
L4)=

*
Sin C t+
V-

ime Contant
Here

4 to lecCh
Hake
fh ySt¬m il

alu ie
e -fincu

+le Yavmce a n d

t =
S Se. Hlinq ne
 coit tak 3
C
aMo th
sm

and
S. 4olerantt

se ling hme
ts 3

Seady S-ate ero:-

he
duanud out pl
C c
diteunCe et ein
A t h e 5 4 L e n

o u t puu.
ud he
the dunsudd

e (t) rlt)-y
h Steady
to
sL h y
Os h e usem

S+ke t

Um e lt)
Um e(E)
eYroY esç =

Seady SCUe

ess l i m t ) -Y(t1)

haorem
Vall
y na
Um e H) = m SEs
ess S
 widuy a nity
fed bate S

e(S)
S)
(s)

omhe Lloce diaqram

Gls)
R(S)

GS).R(s)
(+GIS)

EGE R(S) Y (s)

he above eqn.
eqn
SAbStrtuL en C n

Gts)Rl)
E (S= RCS)
+GIS)

RS+ RLS) -4SJRG)

Rs)
+Gs)
 Sady S+ccie error

es im s.E(s)
S0

Css S-0 tGs)

HCYe the Sttacy stCue ev dupen d

daud th Tram
Trae
Cn hpu e(s)

nCtion Gls)
SHady Sale error foY Standand

inpet

Ont S+ep input: -

m s. R(s)
ess=
S0 1+qIS

o Unit steRS)
S

Essum .
S-o

Cs
um

ess Um Gs p
So
 tohtre
c c u l l l d
posAton err
p in GIS) C M t a n t ,

Onit yamp input

Um s. eG)
S (tGs

Foy Onit Vamp K 2

ess im
So

m
stG

im s m s-Q[C) imsG(S)

ss
m S- Gt) A Callid Ueloci ty
ure k2e=
S0 efrov Constant
Onit Pavabdie In put

ess Gm S.R(3

S-0 1+Gs)

R(s) =.
tX pavakolic thpur 3

ess Cm
S0 sHGS)
m

ess
im m s¢(5) imsG(s)
S-

ess=
ca
celsYation
callud a
SGIS)
Cs here a
kaum
fime COntant.

Conntants
duscibe
k p 2 , ka ducibe
Heve the eYoY
error
cduu
6r)
t
Ctbiti ty o a yst m

uid use
e
er ro
rr or . Ael
Staue
CuminaC
St¬acy
tu system
Sustem
n yPe
tPe
Uccluse cdipenddy
 +yPe d a ysiem

ole-e ro form
Consicuvu Jol(o csin g
tuntion o c SYSt m
open Ácop Yctapen

GtS k s+2,)s s)-- +m)

sS+F,)Cstfa)- stPL

ndicaatey h no Pole
leve h Ym s

at Oigin. cald
h pole a
ct
Ongin Calud
ongin
Coith
Coih h polej
)ThaSystem

re-n ysiem.
no cc
inttgrctov (L
()in
ntgrcctoy

ha no
aso ind Cautej
n

for v
diffevent SsemM
d i f k r e n t

or
e ror
eroy

ste
state

sECad
SAeady

+ype-O Sstn
s y S h m , na
Hov p e -o

CSt 2 ) GE2--.

ss+P Csta)

k +2) Gtl).

(S+f) tP)
sso
sap input

Css

t G(S)
Cohs kp SO

4eve GIS) =
(s+ (t2,) -
(s+) S+P)

. G4 2 ) s+2,) .

Um
P (Stf) G+P2)

fte ualu

ss e
Tamp nPLt:-

GIS)
S qIS)
m S.
Coktxe

S
k C s + 2 ) CS+ 22).
mS
(S+P)sAPa)

ess
Ess fox paxabolic input

ss

Cohuxe Cm
S0

m k ) (s+ ar)-..
S0 6+P) Ct?2)-- -

ess

type sysie m
pe Systm

k (&+31)Cs+2)).
GT)
S (stR) tP)

Essfo SRP topLut.-

ess Ep
Ic C+2C+ 22)-
im GS) = üm
S 0 S CstP) G+?2)
S
 Css

inpuut
for amp
ess

Cm S.G S)
s+O
c + ) (s+ L>)
- -

& Cs+P) Cs+P2) -

2 finite valuu
inite Uclu.

ess

s s f o paYClod
iic
c input

esS a

m sGIS

KCs+1) (S+2»)-
2
um

+P) Ct Pa)

ess
 t P e a stsie m:-

Fo y e-Ssys+em

GCs= tPa)-
s P )

S+e inp ut
Ess o

L
Ess

k (s42) G+)._
tm
kp m Gt)=
stP) G+fh)-

ecs4
essfor Ramp inpu

u m s-G[s): Gm dk Ct ) +22)-

S(SP1) stP)--
 ess

inPu
ssfor (araDolic

ss
2) r42
Um
umS GIS )=
Ca
a finte allu

Valll.

ess Ca
erros:-

s+ate
eauves Steady

Va
measure of SYSte m
error
state
D Seacy

mcLtCh
aCcuroCy eshauud

Case
t sqSAem
icltat
Snan
time
es.
p r o q u M A .

prog
a
inpu
e n u eroy A
A hh
ouold
d
evror
stue
SHCd
Stcicy
henCt t( iA
+
4 t meu
hént
ud

Possible
be dos per-fov mcunla mecuure.

an
mpon{ant

on
+0 ja Ctora
dupend
error

Sttady s+aHR inpu-R(S)

R(s)
inpu
suflnte
ha
yPe o
m GtS).
tu ys4e
Tye d