Sinblty Aalysis of Feedback Systems (D

Tatodudon charactersles
We have diseussecd about the dynahic
of the vspse of elosed koop syptems
that
he closed-eep
Descloped transfo Funcisns
detomine he lenomics of such systems
ie Servo tsans-ey fundun

Y) ServoT
spC)

Reqrlalor toanste runctien

yt
d'c
The debminattr ot the overaA tansser furdlon
ehanges t's
for both e loao anod e setpoit
the same. is given by
It preduet ef the toansfear funthans
tn heleep
or 1tG pm
The presence of
he measuring elements, Contolleas
and fiva Contou elenens charges the dynamic
Chavqcterislics of an uncontrolled proces
eoilnl koop, he
While designing a teecback
sehlety charosenaia are vey impontauit
 Henta i's inpeatant o
study the stabilrhy (2)
h e elosed loop sysaem & he rden e
unccternsiS
srabuly
The Nolicn of-snbilit eonsderr6 be
Sable sysen: A dynam syslean ts
npatiE prduce a
stable if for euery bounded
xegatea of ik otialstal
baunted oatpat
od
to exampa We knao he step esfense of a fiosf
Sufen is shle.

yc
YsFoofoxr
System

yo
Tapat

Dynaml c Yesfmk.
to
tep Sgral
Step, siny&o idal ac bounded npas Sina it has an
upey and a looer kent bt Tamp ig an unbounke
Cnrput

hbounde datpat mans vey kayge outpit.

Sone exanpes skable dhskale vesfrnses
C3)

S t a l e

Yet)

9lod Staesogunse Insahle renelab)

value e
fo seberafenss, the fval steady Shae
V

alaioned
he oltpt lncxases wrh tmdase
For unsfable vesfones,
ranbas ke mal steaky stae ale
In Tart nevey

Hoo to detemie he sabliy of a ytan ll

We have study she ualidalive analysis
The esfons ef a sysTem
We know The dmanic kgoaa fs).CAY
ofan outpatu griunby har G- Yo)
G Yoy y)-6fS) F
y'c) G'G) orYs)
fe)-
Tn heral
G)- S ) valo of twopolynomtels

-p C-(s-SF) GP9
wh P Pa, Pa P4 > and P ae he aosts of P S)*
LAa fhe poles of he sysem oealed at vwtous points
ofhe Coplex pene
/he païlàl- fractlens
expunsien ot G(s) LS

GL=L+C2
S-P s-Pa+
31
-PC32 3m

CA
S- 5-P -Ps
Censicde s ' plane 4Tmginaay a o

P4-

Pa R P Rea oxis

Higue3ho eatien of poles i'n he tempex plane

he will ds eurs about the loeahen of the pdes on re
Corh ex pare
.Heal, disliuet poks such as A5p. avcleccled on

h ocl caoès (Retey tiquwe 3. Dutny in uesan,weget

CetGs
5imca p,O, , tPt
drtaypexponentaly zev as t

taponentaldeeay 29<0

time
Bt
a0, C goows cdonentially oith tima
ExpoheIaI groIh.
t,
SE

tima ais
hextove distinctpoles on the negatie real
pateluce tams that deeays to zew wih tme.(stab
S ca posthe peles make he 1esfense ef he system
gnw xponentily teccod cnfimiby coilh onifunskable)
2. lakiple ral ples, sth Pa ohieh is wpeatd' lnes.
Such poles e se to

C3 n Lm-Bt
3t32 93t,
2
..+m-1
The teom wthen the bratkets ans tonard riy
wrh tene
 anod e desercson the value ie pok Pa
Ttp>o, e t o as t o
0
Tf B<o, ebto ast

If P o, e t I fos allties
Thwefore a real dialnt pole gives tems thá yrt
tf
o nfinity f te ok is postte or zeph deeay
the pole is negálie.
3 Cemplex onucate poles, such as 3Paluay
appeda in Conugae paias and hevey alone
dot Pa- +jB S p anmgata pair
Centhex osts gie ise to teuns such asES»(pt+ ¢)-
The S i n (pt+d)is a paicdic ,csilalig tunlen
whie The behaviaur f t dernds onthe value

ot he rea paot, a
efd>0, hen 9 0 asts0, n(Bt+d)E
qous infonty in an oseulaling mhner:(Pig4h a
Tf &<0 o ast-3ol e Sumpt-¢6) deeays
to o n an oseillalta mohne wir evey deexolsng
anpletude g 4 4b)
= G Then f ot s( Btr¢)
alls,Tsi( ptre)
whch is S (ptt¢) oseilldes eontinuosly wih constuit

cmpe-tude (Fig t )
 7)

time /
Figux 4*pa. Fgue 44 b
Qsceilatmy behavur (Oset lafuy behowcney ckeay
whoge mptifude AWS
o inbrity)trd79.
positu pela(ral).
VV Ftg 44 ()
tine

Oseellaray behayuus veman

wchanged f d=0

at te ongin: Ple fs loeatadat the cgin of

Poles
the cempex pene (të, Pa OTj 0) .Cs. 8 ater
nvecn gis e to Canstvnt term C5

Aemark
. Tf he poks of a tocnste urthon ankocate, h e
qualitaie Chaiacfenthes ef a susfem can be drund
2.Pleste the tght ofThe tnagivay taus gues
/ o tams whitk J0oo o in fintty ( 2nsfable
e unstabe system ( unbamded hehavcnea)
3. Poleso lhe eohe tnaginday aaLI deeay
 (?)
oo a Aable (ie wh bounded hhavtino
The: hartenshe eapuolion
VWe knaw for a cosal ko teol huck conta system

I4oyCm

Or
Y (s) G,Y nd
The ehaaderiik quda h he secl kakCoabul
system s
+ Gpipm
The
The abikity eharacterii3 of he elesdleep vcsforte
will d-termine hy he poles e he transkr'dandlhon
hey ae he dls e chaxcteaiake cgualton

These poles a he Same tor seavo Aodur rg uetoy

det phopoot n be te n' ots ot he chaonen'sh

2dnlon
P
Tn f all te jeds of he eharatesi she cqualen he
neqle eal pas (are to he left of- lhe emaginany nxis),
Ihe feedback colitort system isslah
tany
a y oel of he chaactenste eqriclean is en or
to the
sght ohe imaginary aris, fed hacki
unisfable
 pentoop taansfes fendn ,noL

C.6m
also be. toilen as
h e ehaxachevske egulim en

O: the woh des natáyend on he

drsfusbme trmsfer durli,
KeiHowif- ilein hu stahili
The Rer thonte pueeduwe alees us tortrst-if any
Doet is to he tht of he C»agve axis ( n deccde
chal te stabiloy of the cead Sstem
he catnel caleulate tte
achzal lue he wors
Corscer he chavatjasle edualtsn qs a peXmomal toam

del a be postvc 1f il is negakie, malt-iply hostkr es

of eq 2) by-
Fiasf Test: Tf any of he coethciens, a, »da.C- n
i's neGilic, Therë is atleast" ne wef-of e chaadosista
34 uhin as porTud Yal wo lyn9 on the ht
Se o tmaytnay axuis maktvn he fem unstalke
Secondfest. 1 al tle coct/se&nts a,a1 ,a n
r2 poste, he ts tesf ecannot Cohsuge angheng
but tte (oecdton ct he orS Ihen We have oform
heouth aay. (I0)

Yo ao Clg 4

3 A A Az
4 B b B
C C3
5 C

W2
W
whexc A a,a od3 ,A- a,A4
sAa4
B A a3-a,Aa B-A,as-44
A A
B, A-A,B2 GB, Az-A,B3 ee
B
Eaantwe the clemets of the fust- colnnof he
anay abo ue'te a a1, A, ,8,,9 W
)Tf any sf hese elemets is hegatue, ue have
at kease-cne oet t the lmag nwy ais.5 he sysfem
s uwsiale
b) The nuember ofstgn changeg en e fisestisnn
eemets ts q a l tothe nunbex of orek to he
ight cf he 2'n ag nay anis
is pesible a l l he ekents tin
hes c-fore a syan
a

afThe Roufi array ae perlve

e ftst cokumn
Pocblem Syskm welh a Secnd
Consider the eedback canol
order puus tanster fin ltn

GpC) 512
The Stystam has t o Coniplex poles weh hegalie da
Teat pots p -

-HJ and Pa :
det he meas uing element6 the fnatl controlelaneltt
hae The oanstes fnlan, 69- G,()-1.
APT oole is used to eontsl ihe rlpat sueh
that het nd tie valueK
dor ohichtsystenis shbe.
For Servo eapense(sfpont changes), Ie oxzva/ tanska
un tion of he tee back eontnt sySten is

525+2

Fe Ts)
s+ 25+ (2tK)St
Charasen quio
Stmce ' s a lh d ender polynomial, we -hae. o 4 u

Fist est: Al coeficiants a,a,,a2z c

pestiue So
Ther sysfem may be stabe .

he Kouh oay an be emed ag

Kow
ao
2+ Ke Ar (215)-
2
2 2
A= O
3

B,4-2Aa
2 A
A
B Pa+Ke-ke

The elemarts of he hiost olunn are

24Ke)-
a a e posilne
2

except the Thiod which can be. poslia o neqalive

depen deng cn le values ef Keb

4Tf Ke =/00 S 2z-0.l5hivd element bemnes-398<0,
which mehs he systam is Lnstable
As shaon in fg ue, we have vo T ng Hange
Secand sign
spn Changes n "he elements of he Chonge
frsf edum. There doR we hae two
Ydets wek posdiue reat pat 5 plane
2fKe 1o &%=0.5,te thod efemnt is egual 1
The Systam tsstabe sinca all he e/ements
t20,
ofhe s t cokemn ax poslie
3T genexal, the spten fs Stablke if k % Salsta
The Conditon 2(2tkc e