control .

Philosophy :
Build desired
Dynamics
nnso-hswnwnsmf.NU snsnwn
ma =
F
 James Walt
C 17367

stream
Engine
→

stream ? valve
show v1 9

t
jaw ns.nu
as
on

whites
I t
, I
%
value
 anguish

d¥¥
load Block

£i¥~÷¥_Ét
diagram

LSCH É output
input
↳
variable
system variable
I
•

desired wet ) . .
?

( Important )
aissnons tqsswmw
.io#Ellide;::.=dinst.E--aer-s--I--st'
v
• 180 •

Boy :&
ÉÉÉns=wwi
wet "
"Ñ
←
Governed valve
'

f④⑧ f.
n' o stream

-4*-64-1
M
TCH
y
WIT Idot input VR

Oct
* ☒¥+1
Dependant 9 wet )

VR Teti
definition
as uÑgW li
lz %
noisyv0 I
→ dlt
I →

IfI →

*
• ←

¥%=ud
§ "F
"

T
-

desired wet ,
'
Ñ°W_tÉ master
rinuwno
value Design :G Chmtvoller )

w_d,pÉf-
net ) =
Gcwetl , wd ) -⑥
9
TE DE . Design G.
-
 ÷É÷Éi É ¥¥¥ÉÉ÷→
•
"
→
on ?
£
ud system
dH7←
y
*

→ I
¥0
'
actin det system
j④
wd|__¥--
th
•

fsct) oooioaroarroodet)

Ñwe
nuetm.I.ua?etl&owct1snn8i.w "

Uct )

wctl
desired

is adjusted
wet ) -
¥
automatically .
udµ---#y=
-t
is controlled automatically .

ÑÑw¥sn&wro=Jww .
. -
Aw ,
mathematically .
A
•
At
%
9
I

4 SN lo
t
HI ←

DY.ua
mics

warning
 €om go Ts=IxF→
1-
www.T/=8Fsin=o-
•

←
bearing v

my
- -
→

se
ÉÉ¥¥Ém e) www
,
Tfnietron
motor
a=¥¥ t Rspmogtl
q

{
2nd mention / IF

www.T?shhrriwOIa=E-mTTfCws=-f0tTf.wtTg?cE
: ma -

an
Friction
-

[ = me ? moment of inertia 95 B. =
Tj Este

me2-dweti-TCH-TFCO-iwl-R.mil?-f(wgz-j+Tg?w
Tj assign start
dt

we-11
,
✗ =
dwell
a
I
disturbance
d-t
will d wet ) = TCH -

I -
B wet ) -

T.CH
It
rivermen S TCH = Tct ) -

TI
m l 'd wet + Bennet) = 8 Tet) -

Ict )
It
 Note on :

mÑ→ +
Bench
9
= Titi
9
-
Titi
9N
• motor sizing
Y u d • mechanical design
size material
Note :
Design Vs Control perspective , - n .

< 71 emo -1<1 yet =G[ UCH]

f-¥
act,
controller → G ,
Teti -

system : G :

9 Gennaro DE
lsilricosfosoiu .
. -
system G :

s=uw G map
uct77NÑw yet ]
1. function : wot )
,
Teti
(
signal I Notice : sewn Ñwgñ now wets

11mn into
winner ml
? B > 0in

2. Differential Equation Easterns,C coefficient )

DE
 www.lwroahsw-ndrioomr
1. To
Coefficient
'

•
.
?

1T¥
'
ITH wet
bearing
←

mdjefw-t-Bwcl-7-Ttl-T.lt/-#d1o=7sin9u-woanrn5
motor

m-osrinw-T.HU?E---w-A
nmnrinsñw ?
2.
"
Nana
uodoninsnoo
Wgn
T☒-↳ct
)

renown Nznw
% 7<=0 . . .

Tf see stream Engine

S -_ atjb Laplace Transform
s=atib s== @ + jw

¥'☒±%
see

.ir#-iR*:e-domain
*
a
S
domain
-

t -

unilateral : Bilateral
f. =D

✗
tea

esi-fxctie-stdt.es =/ >
xetiestdt
of

tao t= - N

Prof Dennis
. Freeman ( -
MIT )
 ☒petty

.ee#LEe-t)=s+, x .e si = Lsrxi c tM
Ex 2

oét
.

iftzo
)={
LIÉ%=s+
amp
✗ let
otherwise

a "

fxisctlestdt
× "^=e

✗ rest =
provided Reese , , >o
, ✗(9) 21/5-2
: Region of
• •
> I
Re ( S )
-

convergence

gétestdt
-

jw
is-1Mt

÷¥,•¥
a- :
-

da=ts+ndt ⑨
•
r
cstist
⇐
e-
It / o est "
?
if
-

plane
÷[ III.
-
e s -
:
=
•
S = rtjw
Note :
' it ? 0
UH >
Iet
=
{ 0
,
t <0

unit step function

étitzo e-t.net,
{ ⇐S ict )
✗ =
✗ , et , =

0 ,
otherwise
E✗2 t "
.

e- - É iftzo
✗ acts
{ 7

¥¥
= I

otherwise ,
o
I s
.

e- t.it, e- stat

÷
°

Xzes> =/ (
its
&

g%fe-stdt.ge?e-stdt
•

\
property
at
o
o
wg{ e- } =¥a
=
÷ ,
-

s*÷=÷iÑ Ñ
g
Recs -127
°
> it
converge if Rees 1) > 0 AND t
) L[ e- ]
+
Roe =L [ e-
-

ROC A

=s÷ ¥2 -
E-✗ 3

to
e-
.

-
if t I 0

Bet )={ otherwise

0

téstdt
a

✗ zest ±
forget >
éstdt =/ - e-

-
to - A

↳ + 1) t o
• e-
1-
R0cj
•
← :
est ' 't

-1
-

line
=¥j[ 1
-

→ a
+ -

Rees -111 20
←
I
=
÷ ,

Re ls) C-
1 Note :L ros Es , une Es}
winner his Roe Isis rib
 E✗4o
"'
react)=é

i. éstdt
"'
=/ e-
t
xaes >

?a+s)ta!×¥
"t " ">
tdt
fell fé
-

= d- + !
a

to
o
-

Slt o
ell
-

=
1- •
+ "

; i

i÷z
,

= +
¥ = !

Real > p
-
14 Recall
Recs )2l
-
Eyes . LISCH ] •

impulse Lucretia
foretiestdt
.

signal g[set ]=
y
•

•
- a

fsetdt
•

→ t =

-
a

⇐ °

{?
'
± ,
set , __

otherwise
,

&

fort)dt=1 , by definition
-
&
Ex unit step
L : Linear property
1 .
Ligeti ] =
Yess
,
Tiayet]=_aL[Yeti
g[ wet ]= IT éstdt
. = ayes,
0

=
-

test [ 0
2 L[ ✗ CH + yet]
=L [ ✗ HI] + LIYA))
=
-

t.fiize-st.is = ✗ est t Ycsl

Ucs)= Note :L [ axctitbyct))

1g A-
= axes ) -1641s )
 Solving Differential Equation ? ..

rineurnei get)=dyct)
¥
at
☒
95 get + yet )
-- set
-1247=847 wets
?
G :
jet
yet,}=L{
get,} ⑥-9••
L{ jets +

0
=/ e.) éstdt
•

gq } .
Tet)=sct1
a

? Nowotny etoieowct ,
-

{ 8477
L{ jets } L{ yet} =L - -

+
I
Yes ,

1-
9

t
 fvdu

esi-fyetiestdtgdu.se#dtv=ycti.U-aF-u-s1=yct)est/
Let : net > = jet) Judo = air -

• u=ést du =
iyetidt
✗

•
-

/ yet ) C- se )dt
:\

gqjay-sycsi-yg.co#*Xesi- sfyctie-stdt
"
- • 0 du note
yeol
% yet, ést / I
→
=
o -

converge Yest
• →

Initial = ?
Condition

ñoww=Y÷¥¥ponse•ÉoÉ%=o
- a

✓=⑤ct 9 in

)
,
yeol
.

= co?
Continue solving DE :

L{ jot } + L{ yet} =L {
och }← &¥→☒*=wc+i
801-7
G !
get + yet>
=

Yes , lek algebraic eq )

sits , yeol -1
.

=
+ ,
-

, X ÷
,
Quieten 01
Response
=
:
peg Algebra
¥
,

Yes ) =

,
yet, -_ étuetl
Transform :

""=¥;£÷.é¥
Inverse Laplace a. *

Y "'T
' " °
'
{
-

=L
,={
-
'

gets
act otherwise
e- tact
o
07
=
# puja

÷
*
g- {
e- } =

LEB ? =
? ,L[ I ] by definition
/ order
Ordinary Us Partial DE Li

d-
FCI I ?
dt 1¥ ,
.
. .

,É,✗,t > = net )

.
me :×:* .
It
t intern of
dependent :X =
✗ et )
Linear ODE :

VR ✗ ett and its derivative

→ Time invariant Vs Time Varying

Homogeneous : act )=o

Can Ai ,a• )
"
" ,an -
i
,
. . -

Ajet )
net "
A
É -18inch .✗2=coga,→M° ←
P
-
T T 92.81-a2 sinew = UCH _④ Non E

Ta
-
r
tr
↳ ✗ ✗ •

non a
, Ict ,
nonlinear
+ azsiunexct ) )
ginezc.tl )
= vet?
 ejet7t3yct1t2yet7-detl@isnInozoswis9u-iJiow7r9.n
Exz
.

reorder
:

nN=§eu7 INTO your

ÉwÑw ihosornwn wet)
btw 0

rios matron wwcyeti )

546 ) -135447 t 2 Yes ) = I

ndiñaorn input #
( § -13s + 2) Yes ? = 1

les polynomial f- cij yo ya =

net )

s÷E=¥mn
, ,

Yes , =
-

It>
Yen ¥ s¥F
;¥¥÷ÉF
-

,
•: ODE
-
l -
l T
L
"
eat ] ,÷a
s - -1
t
-

=( e-
É ) act £1s =

yet ,
-

eat
-

£ 'd
Note : Yes , =L[ Ict ) ] ✗ a) =L [ ✗ ) )
et

SX 's )
L[ icts ] = sixes = →
g[ jets ]
A

¥Ms-±%
s - domain

? 0¥
i
what if
=) ✗ code
.
.

ai

LL-ft.no?ideJ----
gets
←

⇐ get = ✗ et
roo ✗ can =L [ ✗ cts ]
✗ CS )
SYCS ) yeol
-
-
,

¥1
"
=§✗cs , µ

=
Yes
)=\ +2¥ #
nsrf.ndofdndGDsrs.hu Independent UR .
dependent
ueti ctlur
My
.

M l
→ G →
aiy
"
-

any # an -

iy + . . .
+ +
aoy = u
input output
In
uodoods Unh Jar Linear Time Invariant
-

e
ODE
system ,
G :°DE_

^an§*au-iy"+.. +aiy-aoy=bnÑ-bn→ci'+. .+6iutbou

IgwÑ "
h l

+6151-607 Von
-

" "

Raus # an -18 't .

-
- tais -1 a.) Yes , = ( 6ns -16m is
-
a . .

"""""

¥=a"=a÷÷÷÷:÷÷:÷÷÷÷÷
transfer
Ucs ) .
9
Yls) ←
function ↳ associated with yet,
F- →
Yes ) = Goddess
 to
Desired dynamics : then describe
Note :9wszuuo5syÑdct )
1020 Ilir .Ñnu3u desired -

First order ODE :

system 'wMÑN
-

ey.ch#ycti--ke8eti
'
*

designed E
, ke _④
s -
domain : parameters "

es '*esi + Yes, =
Keres )
*
Yess
÷e+ ; Rest
⇐

1515in nsn GUN

lswnansnrqufa-oh-eijetl-ezyeti-yctcf-utkpi.it
←

-
= Bloekxiupastt

¥÷=Ts,=÷↳÷
" " ace
"

YCS ) = Tcs ) RCSI

-

,
RCSI =

?
Tcs)
?
=
Ig
-
÷÷÷;÷÷÷÷:÷¥÷÷¥EI÷
teeth ,

Yeti
"
-
if einfwndsnaros oink
set = suet
gain ,
KELI
.

847=8
Rey =L [8) =P
Karan
yet, einw £
, } foundry '

Iet
ÑTVÉ
-

Ress =L :[ 8)
-8s ) #
=

yet , Ky (i e
-

, =

A
* on •

÷, = ? -1¥ @ tao , yeol = 0

0.638 KY
÷+i @ t=E (e)
=¥
y
=
-
,
I
@ t→• ,
constant
=
KeV ( Is -

¥z ) note that
98in now 1sI9ñ
: e is time

Desired Response : Kc, I *

 ✗
yet ) "

÷
:&
.
t

Rise time : tr = e
index
settling time -1s = -

inoonmwwwoanrwraumrmdm ☐÷¥
t.no#ey+y =
her
oct
¥80 0.9
Uc

=e÷I
0.8
3. 8 =

Yes >
.

,
Rcs >
, 4
÷:÷:¥i÷;¥i÷i±÷E÷
"mine :*

}z
sings oiqioiemtr.HN ÷¥☒-Ñ*Ñ y←

.wÉ÷¥ q¥¥☒¥*t
mr

f
e- 8- o→E
y
rooms y=V

oysrsnszww 1st order !

11Ñ2
,
.am#yy-yy
, ,
a. ay ,
ya.gg, , a.gg , , g.my , *

=
-*aLiAH6yit
+ )
← 112,10 6×24)
riimroonuuu met =K ( Sct) yet ) )

i÷÷:÷:*
-

+ did "'
(841-24-1)
www.rnanaainpolaiycti#(ao-bo&tyet)--boHrct
aiiyct ) + a. yet , look

) # dodct) • Sora 1ST

-9
k. ke ee
** a-
9-
a•d÷n KCSI Ecs g
=

, Ucs)= )

Ao # look ao 1- look
.
 tndvwñw desired dynamics
Irani
: s *

took dodeti
_a et +
yet > =/
I
-
set '
¥71 l ! disturbance
dof : K ' ee,
-
effect on
2
-

-
-

N
- -

E
5--1=0.01
-

Ress N Ke i

:{
→

two Nriootndonoink Pau

"°
detl

:÷÷i :÷¥E÷É÷÷
msrineewnnrrovnohsndohesnr Ww :
,
• Effect on
0.01

" "
÷.

:-|
E e
5 0-63870
1

{
go

=+÷a=a
, , , , ,
a

rosdctlnnraos
10 =
¥÷=e woman
d°d④
K =

1%-1
Ya =

=
Kesar
0.98 @
d-eti-af-g.ie .

= 0.1 -
dodet )
=
9 #
ÑÑoño Trees Feedback Mechanism
☒:÷÷¥÷÷¥
computer s-vu.si,

f-
*
programing to _④
PINNA anus
I patron -1
Read rent

read sin yet system

your
124-10-4-1
=

rcn) en,
een ) y

7¥!
= -

*
*
Ucn ) = K earl -④
is nom 9 Untrue PMN :*
 A regime ?
u
.

on
went, °
→
t

cremating.BG
5-70

Rcs, Evetts
yal
⇐
=

g
- -

X,*X2e=
Final IfxCt7=0 fort 20 8ft)

[{ xixxiy-x.cssxunvdwxeas-lims.Xes.IE
Theorem two S -70
Hot
,

as
 connection
Block diagram vAetu¥T€→H 2. parakeet
t.IT#F-re--
փ:
→ "

-4%-4-8 Eikon = Goriest 1 Yes =

system CTF ) fav *

Es→÷÷: ,

1
✗ is -11rad

Ih T 1 It # →
connect?o%F*
. -
-
-
Gcs )
I.

¥-1
series
4157 = Gies) ✗ (5) 1- Gzes ) ✗ CS )

ÉIÉFÉÉIÉ¥"aµ ¥0 ,
=
@ is>
a
+
Gimme

¥-7
,
✗ 201 note Ema
Giessen
g,f¥s
=
) :

yes ) summing point

=
Gqcsixzc.SI
I → indicate signal

,☒÷→☒i→"
11 @ = Nnw ✗ 267 "

Y "' =
Gion Gees , yes flow .

1sio=9ñh Got = Gist Gzcsl

3 Feedback Conwetron
keyword

*IgÉÉFÉy% ¥si÷%←¥w
' •
system
± .
controller

MµeowP Actuator
"
'
Ross •

I I
•
Sensor
: -
-
( it Genres, ties )Ycn=Gcs7kcnR↳ )
-

Ewan yii, I a- ↳ E- ↳ Test

yes ,=y-ÉÉs|Rcs , #

Dci
11-1 Gcs > Kettles !
Ecs , = Res ) -
HCSIYCS ) -
- - - - -
-
-
-

• Foia note : Hess Ñw TF roomsor

Ucs ) = Kcs ) Ecs )
Joon } ] ties ) = I
←

nnwoinniwfu-N-wanw.tw Wuornos Yes )&Rcss

Ucs ) = Kes > ( Rcs , -

Has Yess I TÉ#¥

Yes ) =
Gist kesnc Ress -
tics>Yess )
→
→
É""la¥"q
Hostel
Digital
 Ég Physical VR

VR

- - -
-
- - -
Analog Vs
-
- -
-
Digital
i
\

;→q#T÷¥→
RED

! -117*1
1. -
- -
-
-
-1
- - - -

Digitalizationy Kes ) : Cuatro ther

 n→Éow€¥-
Exo
ma __
IF It = IT
a.
=a¥
,
fitting are ✗ =

A&t
g.
Tf Nmirmrnr

f)Itm
Oboro si
Je f Gearbox

Td J wet) =D act

4 It uaeti
± 12N
Motor moment of inertia
weak

,tµ-←¥
" " " " ""

Ria .
L v6 : back emf

oo-m.s-MF-q.i t #E-*t-.-.-fEt
+
vac
Vast, Simplify v6
-

•M°d %
hematic Diagram
TL
Ja 8T

isvvrwha-J.ci#M--Ks-va-iaRatLd-difa+Vb--
=

Jmddtf = -1m -

Tf -
TL
Ldia
Bwetl + Raia +
of = Va -④
Jet )
=
at
Fkf to

Tm Tz -④ 06=14
Judge Beret )
-

+ =

An
Kf
|Ld_µia+Raia-w=a→
 Jai Tact ) ET
Ex et] -1
k£ wet)
Tmct ) JX =
.
1 = -

m
-
cg✗=gT)
wet)
LTI
= -
kf wet) +
1g Tmct)
-

I Tdctl
In
in
m

Initial condition
•

w ↳ e- 0

Tls )
Js Wes ? Kfw
=
+ is ,
in
M

d- in
St K f) West =
Tiny
us ,
¥ "

I -1
( Jm *
IL ) if + Ck
g-
+
IL ) wet = Tm
Pole Vs Time cvstant

Gess
=s÷ =

Matas
-1 I

ñoww anti :-c

in =

La
pole :
p
= -
a
E ✗ 2 . Tet> ⇐ Tmet ) -
Tdltl 1- met)=km Ict)
,

Tes , Tulsi Td ' " tie

I→
-

= '

Tm is > = km Tess #
,

km I est
-

Td Cs )
Tess =

%E¥É±iTI→
Td
÷ .

De motor
Ex
Ld,a+ Ria= Na V6 V6 Kow
.
3 - =
,

փI_I ,
I=÷rCk -

vii.

t-II.ee G =
¥+2
Ls Iacs ) -1 Rias)= Vals ) -

Ñces )

qq.FI#-FVocs7--kbwe.sI.-
Thes 't #
Ids '
=÷g -
( Wais ) -

L☒É
 Logy
EX RÉ V6
. 4 +
=
Va -

, V6 =
KGW 1 .

Jdw Tm Td Tm km I
Kfw
= -
= 2.
+ ,

It
fides) Td 47 Id
-1¥
Wes, z Gcs> Vaas -

¥ Gi
E. IT
☒ *
E- ☒←e
Gil Si Tin Gi (5) Td
Td I
-

West = G ,
Cs ) ( Tm -

Tm CS ) = G z e s) ( Va -
V61 =
Gz ( s) Va -
Gzls ) V6
=
Gz 157 Va -

G z 197 k b w es ?
 Id

Va
- , FEI i
,
Et t.si
# g
-

- s
.
Lst R -

Vb e
- Kb
Gies ) Tin Gies ) Td
Td I
-

=
w es ) = G ,
es ) ( Tm -

Tm Cs ) = G z es ) ( Va -
Vb ) =
Gz Cs ) Va -
G z
Cs ) Vb
=
G z CS ) Va -

G z
l 97 k b w CSI

RG Va Gz es ' Kb West) G CSI Td

-

,
w CS ) G est Cs )
-

=
, z

G' Tda)
West = .Gics7G2 Vals ) *
.

I t k Gi CSI G z
CS ) It Kb G ,
CSI G z
CS )
6
 I isnsnsvnifntw Geared
JTd Load

output diagram ndoiormr

÷
±☒-É?→☐÷%a+
other
s=wwadwqW
a = do

Wes) SOCS )
Control
=

variable
① CS) =
Is WCS )

Gdc S7 Td
257
Ucs = Gcs ) Va CS ) -

É - W
,
^5 ① ( s) = West
9

Gd 's )
Tdcs )
①
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,¥+TwF&p 11T$
wB= Flag I

abode
/
(G)
WB &
Weg Weg ZWB

= ÷+,=
I Gljw > I
÷w You INMWW

upper
bound
-201091 -2010 }TpW
÷p IGIW → •
=

Fight
'(¥g )
tan
/ Tp
=
At 1
-

we I
,
laejw , I =
/
161
w= 1 / Tp
= 20 log ( I /E) = 1
°
-45° o?5=2
= -3dB "
LG =

zg =L'
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-
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Gcs) =
Tp $ + 1
,
ftp.s-IP
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I Gejwsl
=
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= ✓¥4T
-1 I

:-/
¥
nm

( Iw )
'

É = tai
2

ftp.yp#=Riw=o!-sw-so %
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tip IGI
= =
,

→ '
1Gt
,
go.de
w → &
, IGI → a
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=(s+,,!¥s+q,
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Gcs> Kes )
↳ "' "
=G 's> I
GM= ?

The}
20
0
Ñfrs Bode plotinus • •

-1--1 ÷.lk;
- - - - -
- - - - - - - - - - - - -

-12
- - - -

Gcjw ,
1Gt NILI
rineurnlui KCS) = 10
Key = 0 l
Weg
-

LCS ) = Kes? GCS ? -

GM = 12dB
8=180-90 • ,y
Lcjw ) -_
kcjwcocjw) =
90° → ,
Wep
Kcsi -4
I ↳

111dB __
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=qps
.

T domain CODE ) Lcjw) Gejwkcjw)

- .
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9 A
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controller

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If s→jw closed-loop system
.

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,

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system L index
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M W =
# g- 20
← K
✗ (g) = 0 - 125s + I -

•
•

jwtl
qa-J.tn
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125

Lest = G , CSI .

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lo T •

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• ☒
←
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ten

}
1 Tess + Scs ) I
Sis?
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Sen =
,
noise
sensitivity -1.1?
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I -18197kHz
,

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,+[÷ ,+÷, Gd G) Dcs) +
=
Yref CS ) -1 It Lcs )

# Test Nes )
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-

"
" -4
+ "
,
, o
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{
'

Lejw )
1
a
kcjw ) Gejw )

it
! Teja , LcJ
:
e

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@
^

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w → °
'

ITCJW ) I →
1,111>21
Tcjw ) Scjw )

{
-1 = I
@ ↳ → •
;
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kejwg.gg# → 0
,

: I -1 seejw , gyu ,
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Wep
: =

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÷ ,
Gm -
8.89dm ,
,

¥'
-

8.89 = 20
log 111
i
1:00
(-8-89/20)
111 = 10

= 0.36
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= I / 0.36
=
2.783 ( 231
PM @
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oisoonsmsoinarzw
④ = 180 -
131 /
=
49£ ( F44• / ← GM uN= r
 system type
In
¥o-¥
f- )
°
,
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,
2

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>

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shape I Ll ,
unaffeet
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n

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w='z
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:

,
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LIST = Kcs) Gon

I W I >> 1
,
I tejw ) I =
£
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- •
-

e. • < • <

= tan
'
em
tanker
contribute phase lead
-

•
(+ ,

we [ te ,
Je] max
( Wimax )

Wmax = I / era
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I
ear
±
← ites
de

max

⑦ I
→a

E Z l L I 0 . 5
,

G K
L
.

20 log L - 20 log G t Today k

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-
.

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.

N -
comin
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re
* yz
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- - - -
.

:}
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lit ejwl
Kes ) 85
"

resigned:*?
-

in
in ' =

-
'
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WE
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cumin II lend
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0.99

I = I ↳ 0.5
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1,0-5,0-9 → 0.1

it
V
win
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,

msriosmsfm-Banmridth.ro?&w
e-
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oiosiwao thinly
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oh K

KIS
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'=es¥s+z)C§t3) MATLAB
= k= ?
tff
,
LCS) = Kes? Gcs ,
W = Va)
,

¥+Y
k= ' -2 Wes, = SOCS)
2-
Ocs,
- - -
-
-

ii. 5
µ ! e•=0 In
/ Us k= ,
I -15=19-5
1- God
* ,
Kes / Kpt Mi
=

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| Yosef .is/unitstep 2-
type
⑦
6
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-
) 5- =
lug ,ok
-
- -
- -
- -
-
-

g-

↳ '" ±

es+ytÉ+z )
→
G

KCSI = 30 Lcs ) = KCSJGLS)

PM = 25° 2.3 sad / see

Weg
=
,

GM 2
=
,
Wep = 3.3rad / see
←
-
5.79dB =
geologist
4 PM = 180 -
143 PMI I

¥ ,
-0 Gm
=
gg
•
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Kes ) G
I 10,2=0 Zo
-

= -
,
= .
11
it IS
→
9
9
14
PM 81.60 O 48
Weg
= = -

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Wep
= z
,

I
GCSI = 30 -

T ( Stl ) Cst 2) Cst 's ? go.ee

KAI

1
= 30 - I -1225 -
-

ites ( stills-1270437
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86
↳ Tso -
ol
TP '
0.013
• I controller ;
→ Kiser
ki Eh
K es ) = =

J s
Kp
[ ki
, es) =
RIGHT =

S -

80 )
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PM = 540
)
Acp Z 55 radke
 PI controller !
P , PJ , PID
•

Kes ) Kp
'

KI Kps t ki
=
-1 =
-

s
5
Ki
=

Kp
s-l-z.si y

KSI (Tst ) KI
=
T -

Ki
T = O - 01
,

I k
Les ) = ki CTS t 17 .
Kp
-

S
Tpstl
Tess =

M L 1- Lcs )
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Sigurd skog.es/-ad*7~
NTNU
il Gon " K
-

r r r
→

Risk Kp

-1¥ 9-4*4,1-4T€
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kpcl

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,
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±
*

control system
,
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,
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system parameters : 0.68% woo

At

✓
^
t
① est = Gcs, Veg,
2
onniognvnoo.eu iinñnrnwoh

'=t¥+,Y¥s+¥t
west = 50-151 "
•
K=
"=¥g
we
0 's
Ves , In
,
,

ñnnwo Oct ?
Gcs ) → *
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Wes' =
G" wsefesi .

It Gcs) Koss

/
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Kp ,
Ti = ? ,
K
,
T e - o
p
,

Kp ⇐

-÷+I
west =

¥+1 wxf at

%
← '

)
•
*
Ti =
mind -1 , k CER + e)

Tc = ?
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LILA ) ]= Yes , nyctl

Ligeti)]=ÑsYcs) I
,÷¥¥
delay
GlSl=

1m¥
÷!-÷÷÷r
=¥g e-
es

,
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kpe Lcjw )=Gcjw).kcjw7

lkdcjµ
-

- "

FIT ¥;
kdcst-Tds-E.tt#-.--s-I*TfS*fiffer,wf=&f
TTI
TISH
•
=¥d
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derivative action
Ycjw) =
Tejwl Ncjw )

=¥dg,÷
Kdcsl
= Lcjw )
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1¥, oiisrsrnrfao trial and error :
180 Ilija ) / → •
icjw ) / → I
ceninmroosaaoooogn
 "

÷→E
#
Gcs ) =

EEE
→a- sq;
a- -

.IS/e=*#.Fs+ie
Fett -4 Fcs , ¥79.7 go .
's

f- et -
a → Fcs , "

7¥ /÷ie "

K =
91
Ua
 Yes 7 = Ges > V97

9
input

¥¥q÷iF¥
signal

D÷
Ucs ) = Kcs > Ees )
9
Control signal
 ✓
Control system : Implementation ✗

K#g_pwm
.

Ken
Digital to
PWMCUTS)
wref (MTS ) IF
¥-171
→→Ecs,k*Uñ*E¥É%
- O
→

Ts Drive F- Wwe system )

I

☒← 4^13=0. 0 1
0
"" west =
Gleaves)
sampling

t.EE
Stritch
wants )
→ ;
went t=MTs sampling 0
Ts= Time

•¥←¥di tal
+ 0.0.01
nett
=

Digital side
t 0.01

Fs=¥ Analog side -1=0.02

 Discrete time
Sampling Theorem ;
(
-

Domain

Digital -
domain )

pitch ↳ feints ]
*
mst

uridyct
,

It
-

,☒,÷7dñnñw
,
t

/ geode
Ts o

Ts :
sampling time Bondi Numerical Method

É
Fs # / Ts Sampling Frequency
I
,

t=nTs ,
n c-
I

°=ñooÑonTs9ñ ignites word y

:1R→lR
tents ) fct , y :I+→R
I
yen)ER
IÑ
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! aorosdno feme fonts ) quantization
 How to chase Ts ?

Bandwidth Mmm
•
WB is closed loop

{Foto
5W
BE
T
2ft £ How B

IIs > WB
, Suggest
.

z es e
,

¥7 .
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slope É n et =nTs ) Blackwood Euler method
It ,

'

gets t

dyetif
=

Yen -

Yen -11
- = _⑦ get = at
dt
t=nTs
is i
Jen =
2.1^1
Note : msoinwarrslopendn9Jwoioinndwnwsnyc.in -

1)
a

II. yeol -0

dodctif
^

Ycnti ) LCM ) Forward Euler method I

-

=
g-
-
,

dt " ÷÷
tents
§cn=9÷Y"
'

iii. you
=YC2÷dCD
,
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YI
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Ifyce,de
I
"j¥¥¥Én
01 2 3. •

t=n-s
°
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I. old

end
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to
n= o
n =\
n=2 M =3

↳ ctldtzycol-s-ycn-styc27-styo.rs
0 Neo : T.co ) Icu) = Jen -17 -17cm}
: Jen = Icu )gents
+
n=l
n=2 : B- (2) = ICH + yes -1s
Backward Euler : Trapezoidal Rule ;
-1=3 -1s

/ yet )dtñ
|t=3Ts
ycoi-s-Yen-styen-sfgetldt-EIen-n-1-z-sty.cn ntgeni -

00
0
I Icn yen) ) -1s , IC
ttztsliyco) -12GB
1) + is = 0

f
-
-

Ien = Ico >

I = 0 , 1,2
?⃝
 I to

tents

> n

;
•

tzTs( Ye -
is + yeol ) it
panto / Implementation : Kes > =
Kp Ts 1µs o.sn
=

(gÑ=kpt 1←Ts→1#
Er :#
10-17=1*1

Procedure : control toopnqo n=i n=r This h=a

1. Read : went
inasmuch
Wretch )
Nnñn
.in?o9shiounhzoy .

,
Timur

oiharsnr
woo → Ts
2. wnefen want
error : ecus = ) -

3 shown control signal : new =

Kp # een
o
set 1 .

4
Is @ on uchi
lÑoaswnWW0lM° } * control loop one

J
5 so owñ 's sow n' old T Timer
.
,
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control Implementation : Ues ) =
Crept ki ) Ecs)

uet)=kpeet)-kifec+dÉ#
t J

RTs → 1
Up o 9
ui ##¥☒
Procedure : n=o n=l n=z

Read h= °
1. : went wnefeun I old
-
e- old
, , ,

e- old = 0
Wcm
2 Alarm error ; een) = Wnef -1mn -

old
.

=o
I -

3. oh Naw Uch ) =
Upon + client

Upcn)
=
kpeevy
)
Ich)= uicn , = Ich
-
old
-
1) + Kitts ( een 1) teen )
-
-

old

4 .
Irina's ! I old =
Client e- old > een)
,
-
 er
R 9. oa row

80 to 13 09
-

5
mind Control system
Jaro 5.
soon anger
25646