National Institute Of Technology Hamirpur

Electrical Department

Assignment:1

Subject: Modern Control System

Submitted To: Bharat Bhushan Sir

Roll.No.: 182010
Devangi
Branch: Electrical
Engineering
 givenas
AyA Tem
olesewbeel ly tdmseumotiom
Y ) - 2 +los
Z1s23
TCs) t lo
Fs
of comtuollalele o hona
Cohohia
UCs) sSs comtuellalile
im Teums ol0 u m CocP) . A e
maolel
V
el Slale 8paeeolaseuualule como nica umCOCF
F) anol
om Ccc diageams alteumatively
Couisponding bock
olutaonsoalteunalively

aw ta m ooles Ca be
same Hom fo
w that he
howthat a l o ue doucwb
cenuteuh kg to
Sweell as euy U s ) b m

TCeviuollatus lanomical ouwm Ys)

x Cs
Uls) Y (S)
Us)
YS) XC)Y(s)
UCS X (s)
UsS
Now
X s5s+ Fs t lo.
UCs)
U ()
+lo X(s)
=

+7s Xs) ut guLe}

s° xs) +5s K(s) tial
conoufrea

mi
x (+) =U4)
duamyeuwm
Ivese Loplace +) + lo
X + ) + 5 Xe) + X

X s x
- x z - l o*,
= u(+) -5 K3
x

x 17-5 J
2ls + 3
Y ( = s+los (973XG)

/s X
XCs) +los XCc)t
Yls)=
ds"s(s)
+ dl ) + 33x4)
loxt#)
*o) + +d3xG)|
y#) x3(+) + I Y,(+)
y
=
x 3 t) +16 7x-/ox,]
5x3
-

3 (= u)
-

K3 tdIk2f 5X
d

+â/X t23K
C 4 ) - 5 x 3 - 7 x 2 - l o x , ] + / o

)= u t
y lt= ut)
ou) -
192 -0K

8)= d u ) + 3 + 7 t0X3
 yc 3 7 o l |X + (2Ju(4)

To i n o l Obseusaluk Camowcal o u m -

Y 29+los+ 21s+23
U(S) s+5s+7s+6 TålsUd
tlosU)
2s*uce) + 3UCs)|
7syG) + lo YCs)
=

s Y)+ 5sy(8) +

daking daplare onuense {mibal comolblhon = 03. ua) lo dvct)

U
ua) + lod
dyct 5d y)
2
7dyC) +loy C) =Id
olt
dt
at
+ l d u (4+3 u C4
Uc]+7yt)+ 31uC]
d-5y C)9
lo - /0y (+>-3uc)

lt 3

y = -6y t) lo u C) +
3f-7y t)+3 fuc)-JJjEyl)-a
 t state 8bace Ceguation a 0bseuualiteoum
Y6 inl
, Bult)-loytt)

Noe,yG)
4) 9u(4)
=
X
ou )
3uC)-lo x (4)
,4 +3u(-D - (A
C)=-loxg)
x, t du1] + X(t).
7/x3tr)
/ utt) -7x3 ( -
7uca)
X4) +9u)]
X 5 x3(4)
(t)
-

Xlou
()=X
*a Oult) 5 5x3(4)
x,)
) Ct)
Xg
Fuoom, 0
s
State Sp ace eguato
m

chndu m b - = X (4) +au

tt)
y+)
uaion is -

P eg
o 7/A ut
Ct)lo

Ts) A+ 0s)
Us) +13
T(s)- /t s 5s+1Vs
s6s 7s + (0
A B
aluawd
im aualL owm hesn lduallel0um

Can lue usw hun as s

be im
wiu %ccFjm
Bock
dvageam o Oc A
block duagam oB
maks tu
weCam
pauallel wih A o Bpaut
Moolol
State Sbot X / u e )

-lo 7-5x3
3 7 oJ
 dasCuu bed
uamaleu puneton e) a B4ud oudeo cotuol ayaem ds
t e ysTem r
pha
aatlsuu sbare modet e i eum and olueuuold
t e &walla
ew u comtuoilalle
canom/cal

Vawalul bum
Comom cal umn S+2
Y s+9s26s+ 29

To elatum phaie VaLwalul oum

X ( x Y()
YG) xC)
UCs)
UCs

X = s 9 s 6 s +d4
UCs) Us)
rU YE)
=

sx)9s"x(s) I6s XCs)

+ ut4)
dU x(4) =

+ A6 xt)
x(t> 9 x4)
+

Ya C)-

alt)= x (4). 94xiCt)

K3 4)
-

d6WaGH)-
ue
Xgt+)

y-6-1
 Now YG) =St

Xs)
sXG) + X)

= X2) +K+)
CY
y ) = fo 2 I|x, +0uC+)

24
2
(1))
r To ollain Ob seuualuls Vauwaule o4Um
YS) Std
UCs) s9sta6s +34 AU()
+
26s V(s) Qu Ys)= UCS) s
s yc)+9sYCs)
+ +
+ JUCs)
-6sy(s) a 9 s ) +5 UG)
y= -9sv<)
J09
Ves)=2 Ys) -6_y6) -34Y(s)+US
S S
S

ut)

24-
 m8tate Shaesjoum
u 4 ) -94
xD-A
dutt) +C2)y 4) C
u ct)-24yt - O X2x+uCt) - 26 X34)-)
A) = Xa4)+0.ut X3
X3 X24) +O.u4) -Y%/D-)

1 -2 a

y T o o 3X7
3 &C
tuno
tulo
tla
la liily
li uy
Cc) p ckuekig " QseuuaG
. -24
C
tustaks A- oo B D O
-2
bdeaßlaku Rank B] =

l B AB AB
- 2 216
2 6 234

55
O -24

AB

-2 2lK
247
A B O - 26 2 3 9
? 55 #0-
O l6-2Y =8
2 2

Oet0
7hu
Sya/em Cntuellall
iny Olseuusliiy:
fc J CA loo J o 2
|cA C lo o -26
tcA
fo-7
 CA = o o
O -2y
-26 234 - So 9 55
55
Ronh
o-9 5 5
THS not bseuwelue

ahaN
tuawahonal mechawcal slem
R b u t s e u d the as
guut, STae shao oithx im
Im-te allowim9 vaualhles
uulo ci Hes as 2xtafe
Sutput Seluct posiHon
2

4Nn
NM 1N-s
IN-m
f+)
-D,d2
D dA
= F(4)
= F()
t D,dx
m, dxL K ,x olt du
dt
kxz-KaX3-0
M2d - D, dX1+D.dX
ol UF
Mds+D. d fX3-K2x20

dt
d d d3 dv-
=
dt
d2 dt
dt
dx V d X V2 = N
dt olt

Xi, V 2 > X s , V a
aA >late YowalulA
YouwalulA
delechm9 X1y ,
dx
Vtf
dY K DV D
m
olt

V-Kz K XX
dv
M
dt
dYs
 dvs -D V3 -K
ot m
htiong Valuls
ma-/kg ms 1k
1Kg:
K,=IN/m k=INm
DeINS/m D-INs/m

d +Y2 t FG)
X
d
olt -
dX
V

VI-X- V + X3
dV
olt
Va
Clt t X2 -

X3 - V 3
dVa
at

o V
2
o fc
O O
O --1o VV

X3 s taken as o/P

l o o o oo]z
 elactiu'ca
euiue tte state sbaca Modalo a0loome
Swlalile eliehon / 8tote Vawalil
u e i t ly makimg &s VallogR a c s
t e aysfem is bkdn
s w m a ho duwhut
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a eabasilameas C
as V &V,LOp
R R
ww ww Mw

:Ca

Heut
A)
C d Vc-'c -(B)
olt
ulbimg Kiushelks uoltage & cuuwwnt Raus Ve-Ye
V,Yc-JR, R, =0 R
Y-Vc - iR, = lRz+le
RI
Ve J ley

fe Ve -
-Ve t (RaR3 =0
Vc- iR leez
R Vc-V
Nel -

ica =

Vcr Noi V
i)
Ve Re
futting eg. (b ei) i E (A) &(B) Aasp
l Ver VC2 +V

C, Rz C R

VeL V
C
 fVe
Vc Vcz

O o/p veclous aue gum a37 Ve, &

Ve-V2IRa

Ve V -Ciea-ka) R3

Vea1Ra+ s +lcR3 -
Rr R

Ve-V, +IR Ri =0
+(lci tIR) R,
V Ve
) Ve RR R )
V, =
Ve
S stuing es d &0) V R - R a ) +T R(R-Ra

Vc Y CR) RitR2t R3
R+Ra+R3

RtR,tR IaRR3
R +RrTRz

R-Ri)V + R 3
Vca R,-R-Ri -e R, R3

R
RRat R3 v
R3-R2 RICR-R -RIR3
Ver R+Rt R3 RtRat R3 RRt
- RIR -(R-R
R R-R V
Vcz RL-Ri R R-R-RL PR
 s n vauan
S a d hal ians/euunetioon a a L7 3yJem imvauo'
dual simiCauty diansoumatà

Se Go- C(aI-A) 8 + DD
CP (sr - p'hP) P B+D
-CPfp'CsI-A)P} PB+D
CPPCsI-A)"PP'B:D
-C (sI-A) BtD =
G(Ss)
Heonce howed
 Oeteumire the pobs omd guos
4tke{allsuiong TEm

e inoli ong a u t t u dnanse miti om

Chuuy s Outsul amdl umkut)

sel m a btale spaco

Fa oleuiumg a tuanspeu umekon
Mealel Gs) =
Cs I-A)B tD
fs
P's T-A ao S+

fs T-A] S +9
sicr)+20 o
90 6 +9
S+
St9 s9+ao
2o S
sust 6)
fsI-A] - s+9
(St4)t5) (s t4) (s + 5)
2o
LS+u) G+5 +)(st5)
c lsI-AJB
-17-57 (st)
13-5 S9 (st+5) +4) Csts
s r)St5) Cstu) (sr 5)|

-17-5 Cs+0)(st5)
Cs+4) (s+5)
c tsI-AJB 17-5
(s+4) t 5 )
C sI-A] B +D -17-5s s 9 s tdo
(ST) (s t5)

sis+3 - (S+3) (s t1)

(S+u) (s tS) Cs +y)s+5)
als 3, -1 Zeuos:-4, 5.
 O8:Gimo out thse suamslew punstiom of
a4 Bud
Bud suplo Coiu
ouo CoiLo
CoMiusM
t e m alessuiud a
falldus
x O

5-/x/
-36]/,
SSs au oluuiviog Juamye
Stale Sbace mul kumekron uom
G(o) = C (s T-A) B+D

CsI-A) fs-2 3 8
3-5-3

5 St4
csT-A] 8 fr 36] s- 238
-5 -3
S 5-3
3 5 StY

GC) ss-5 3s+52 -3 s19|

CI9 27s415
s S 3 s a 7s+IS7 -9 St2S-32 3s-
3stl5Ss S-3
GCo 9s-349s +U52
ss-3s s tl57
Cc cP) omol
2 Ainol a u r onLuoilalule Camomical Poum
fou ths yslem
lseusalle lanoonical Foum (OCP)
descubeol ly allowing Tuonaew unctom
YC S+7s+2
UCS) sz9s+6 s+24

( D eoomtuollaule Canomial fom

Co C c]x lo]u
 O I o1
2-26-9 X3

4 2 77JX bu().
x

() Obseuiualle lammwcal 0u
-o Co utl
-a C
-a C
o o x
oy

O24 X ut)
26
o o t]
s oDh
glo Fou to utem odurribed jn Nade shacs foum
ulos , Compule ofp uspombe

HD =X
unwit Ateb fuuetion k imital
suma -he imput to be a
enoliHon as Xo) =fi o
X S) d ()x(o) + ¢s)BUs)
=CpC) Xlo) 4 C$i) BU(s)
es)
1 - --O5// s o5/
) /sr-A]
-6S
-o5
ssto5
s/s+4)+o5 s+I St
s Sto.5 sStOS
C)=Cpl)xto) Cp ©) BU)
 ys)= o3s5 SS0-5
st S+o.s S+/
sisoS
sos
2 *2
S
C . ol's) BIs)
ssroS
ss+o5
- 0 S

s+0S s s o s
ssto5
t
O5
sTSO.S ss0 5 B
S+0 S5 A s'+0 S+oS
Y(s) S+O5- 5
s s + 0 5.

A-0 5
- 0 55
S
o S
y(s s+(o50.5)

Si(0.o S) Co5 +0 5 ) t .
0
05
5 e
C o 5 ( o 5 - 0 . 5 p t

ta
tfa Jauolam
Camonical mclel o
QB Detsumins
olleoio9. sysemn
Y S+3
(s+)St2
C
St3 A Cc +2)
s + ) (st2) (st
St3
AGH)S+2) 1 B (s+2) +c's +I]
A +8- 1
A -C
C-l A= -l & 8 -
+
YS)
Vs)
CSt a)
-1

l2 -
 & hm le"P
SAa0 hatmatuwy Acom be diog omalized
maluwx t h a l
ALP's a diag omalizimm tuamsoumatim o heLu
# t e la9oma maltdx j.e P AP=D
usoums
Shoð that i matiux ns Tuany
a dago mal maluux. XeLe
o Joudlan Camomicalaum
then eA s e s oheul SS
,
fo h a uams/aums A i m t e
S Hhotiuams/oumahon matwx
Caviowcal houm J i e SAS =J .

oclo n PAP-b
3 7oShow e
A+
= Pep
heus

Loe ge
ee = +

1+At + A t

e b y Poeget
NouD= P'AP=D in
aidus
hubmuliply luoth
PPAP PD
ost multi/by loth sidlos im &by p we g
A P PD

A PDP
=PDP Coe 9t
A
vadus o A buom i m
Oweg0
Bulsituhng
e 14+ PpP, PDP+
2
Dt D+ . .P
P 2
Pe p = RHS
LHS = RHS

Setsuwhus S'AS=J.
Fo sho:0 e
e LOegd

2! 31
sAS= J & s As = J .

Peunuelsg by s & YastuatipG z0by seg

 I At+ AT 7sse
=+s"ASt =sTo
2 =se"s
Jt
2!
ses et

se'ss
seAt e
Ss = Se
= Se's
RHS -
UHg = R HS

Hene S looh
 comlusl &yatm s
oloscusbeo Dy (ollowi
duodee
12 seco omo
9 Qeuunial eguuatiorm
y+3y = u j
fs mpuut do ttho ByA'em
dku yis eulbut anol
/%mpaniom oum fou this /em
(o) D e u h i Bush

S
ddt ot
+2y u
X,() 9x,
y) x()
-

()> uct)-3x2 (t)

-

*,
XB(t)Xa(4)
dy
dt is
Ollaimedas

Bush @um

- 2-3

y- o7
Bush/Camew'col eum
dheuu Jowm is

Aale
euus Re t e decoub led oum (eu t a 2yslem
(b) (@ us im9
img
moole
m ool uDom heoum oitained in baut
Vanoleumoclo malwx.
-

1aI A -

=o 0
2

a(a+2+2=D +3 +20
a-2
T V=
 A-vAv

= -

A
JI:

Neo 8tate spoa e e

Js ollaired as DLe
A V AV
Ax+Bu

CxDu

D D
B

C =CV=

De coupld eun

T113]
J

smg Model Matwx ianscumahon

Ce)

AT-Al=0
+ 3 t 2 =D a:- , 2
Tooum egen vecleu
() Fou a=-1
(aI-A)o i]:]
 -V+V2 0

-V V
V
V

T - A ] wO
9UTU0
- :1 Vi
V
V Moole
Moluix

Neuo Mocdd
x = Ax+By

ChBu

A-viw fa JSJ =

O-2

BYB3 7J1-/
C CV o3

--K
y use
dbove nmethod is decoublld oum
Moclal vmalulr.
Qu pu h a sysTem dlerouibed yallouoimg uanbeuune
colualls s0 a to Aaus rak
design stole fecaltack / cwlA
Qunhoot as 5 7. amd dettig hiama as ot Bec {
Y() Sts2
s+9s26s+24
UCs
huonsge ucon
iluolalele Canmucal Loum
tauon
ef

-24-26-9
1]/:] HO.U
x3
Med-back Crmtustlu
saytes apbblyimg
A-BK] =

Now ohauaeteusfh 3 beComas

s+ (9+ks)s*+ (26 +K)s + (24+ K)=0

Grwn MP 0 05

o.05
&m Co D5
0-46. 4
Cos 0.689~ &
Le (o-o5)
- T Cos 0 =
=

SInO

8.41
Cs e.becmas s4S +8»4

yses fsus +8 417 s +0. a987

s3498 s9.602s +2.6oC
k3y.298 -9 4. +o 2
(6. 378
9. 6o - 6
K 26061
=2 us-21493
39 k3-47o2
u r k =lG
K21,