Linear Systems & Signals Unit step Runchon ut) u(t) = 1, bBo o ,b20 rs re Unik impulse funchon. Sit) = 0, t#o a f 8ce)ab = -& tor a continuous Rinchon, $(t) le). Slt) = Plo) - $lk) > Y Blt). 8(t-T)= PLT): Sle-T) a > [pu-seens on of EN Be PO Even & Odd fundhons £ct) = Ft) — > even Ainchon POD = -P CE => odd kinchen Linesy syshems — Obey supenposibion prneaple GPC, Cy ore mputs do a linear Shy and €,€2 ave the Corresponding oulpuls, then he Ky Ot Keto will sesult in 2%pe ker Ke,— Response of a linear System Zew Yp wesponse + Zewo skate vesponse NX Response ko inthal anda: Response ha appliral in pat — The general equahon Ry any linear sytim roa be writthen as ay + a... dye. stage BAF 2... + ba LBP ae at” at" at Lola yo) demon tHe Tesporn, of the Sapte ie an fp signal fe): > CoePheim aj, bi may be conskanti ov Banchon of hme. OP they are nstanks, the Sho 1s called a Linear - he-invamant (LTT) Sim: Zero shat. werponse — % of the Shn tohen stab Prom an inthal veld Male ie all inthel Condshom are geo Tey an LT! Sin, the Zeto tak vesponne in quem o4 of. yo = J fd) let). at | eemtton integral “me - ¥ = £(¢)* hit) = hls FH yt) */p GP FU RWW are both causal Signals, Hen 4) —\p ea yl) « 4a hlb-t)-at j bdo Ut) —9 Imm pulse response ° —> Sine any lp signal can be expressed as the sum of sealed 3 daleyed vn pulses, oh rans be obbatned by Sammang corsespondingly staled Radelayed inopulse veaponaen Thr tn the idea of the tonvolahon Integral Tacs an LT Shy is coveolctely chora clkensed by 1S Irapule. Teponse,The everlasting exonential, e% Consider on inpar symat e bo @ LT! Sq voith htt) Then “ SUE-O) a yh) = { hla e dt 2 ot i nD Star -2 a 2 Hs) & > Te zew state Tesponse oF an LT) Shy dt an cverlashng experenhal is abo am everlasting exponential: Sushs an ip signal fy whee the geo stati remporme 1 of te some fam as tu i is Glued a charectisushe Renchon or exgen Rinthon of Ha syslimn —> Hls) is tu Laplace trans Borin oP the inopulse Fesporse and Is called Ane trancher Panchon of the syrtim - Zor Vp reagent The Zor ip Tesporne 15 obrunud as fluhon oP the equahon "yea dy beset acy: 0 wha on 3e20 imhel conbhons att ae” — Respome consints exclusively of fn chanackenshe Medes OF the Sh Zero Stake TeAponnte com alr hawt characteninhe modes — > All Charautenshe lerms lumped Pog they is called the nalural epee , Galt) Remaining terms tonsishrg entizely of non -Chavackisishe readin is called the Freed vespome, yplt)- jive. y= ynCt) * Yo (4) Stobitty of causal LT1 shme > A She is asyrmpboheally stable, iF all its chavackenshe modes ge i Boro a4 Loe—> A causal LT Sh, is stb Pf all chovackenskxe roots axe in Hu le hal? of S-plane > Unstable iff a) ok leak one vook in RAP b) vepeated vote on Je ows —s Marginally stabi iP a) no root in RHP b) Some unrepeated wool on U9 axis Signa funchon synt) “1, bZo sgn U4) « Oo, tbo 1, B20 [& sgn = ul) - aCe) = -1+ aah ult)= L +1 sgn lt) 2 2 Sc Sinn nm Sine Renehon Sine (a): Si Cttn) = Sin Tar i Signal opesahons on independent varnable a(b-bo) —> delayed verron of alt) Br to70 a (+b) — advanud vuyion of alt) hr bo mn (xe) 5 Lomprersed Veron oP alt) Ry x21 a (&),) —> panded version of mit) Pr ariFourier Senes Ottnogonalty > Real aignels 20) ond RO ase Said to be orthogonal in [kits] 4 & J 4 fw dt co ti —> Complex signals 0H and AO) are Said fo be orthogonal in [kite] if be a f 2.@-Be -ae-o bi ‘ “Lngonometric truer Sones \ yy Consider a signal sk $1, Coit, G2. Sob, SmoxQe | This set is ovthogonal ver ang interval Tex MTD, This enabler un te vepsent 0 perivdic Signal of period T, as © Angonomelne foner gous. We can wot. Py 2 Flt) = ane BZ On nib + Z b. Sin nidpt ner a hue " Gor | BUH). de ° ti Foumey senies belo ; Mh an Lf PA) GrnBh dt Coals is tthe bie 2 J $2) Sin ne dt Compact form: 0 f= GZ C, Gos (r,t + On) whut Cpe Jazrh? and Be tes! (a) an Founer scenes of even fenedin Fandrons osill have only cote ler and oda pened. Rundown call have only gine termsEponenhat “huner Sunes —— pode — 420208 hheneat and The set of exponimbals J 1, G2 § Ab osthoge may be und be reat mgrals yrwet Flt) = z Dé coh oe Ds Cn cb = n ne cn SB 2 Half wave Sy romabny fF (ust) is sad be have half wave Syinmnkry if £ (whe T) = -P (ust) “For a hall wave synmatne argued Oo, nis even One '« 2) pest) co mint dwt , nis odd é \ b oO, n is eum ” i 2 P plust) Sin nit dE, mis odd aun even han monet oe abtenk in a half wove Symmene syne Faw Fourier Ttans bam > Pin apencelix gral can be Lonsideud do be a porroda Signed cole pemed G30: Tun “ fis fr eles). ft 49 c oh Ca F(e)+ PR bey ot ge -& Properhes OP tu touner TvonsPrm1) Lineanty Gt mu) eho X(p9) anol ga Y(y9), then aanl)+ byt) cfs a Xlp)+b Ypo) 2) Tyme — ghiPhag 4 alt) xlpod= x (ps) he RS xcye)} 2 Re § xcqoh dn 2x (2) | 2 “dn fx 9)} Tun Rr reed alt), reat pot oP the Pruner transhrm is an oven Aundion , while imaginary pot is om odd Punchon Also, [X(po)] is an even Renchon , voile 2 X(p0) is am odel Panthon Also, iP aut) is real even, %(po) is alo meal & even iP onct) is reel & odd, X( po) is pussy Im agrraoy &odol 4) DiPPexemhahon & Infigrahon Anth ef» nt c£> jox/(¢) ob b frun-ae ces jet) TH $09) -08) Time and Frequency scaling n(at) fon x (y9) > nt) x(-jo) 8) Mt tigyng by ef ona t yok ae cfs X (4 (o-w)) Ro Lat) <5s ¢ exe) 4) Rarsevals aelahen. 4 2 J beqot-a A o 2 zl finca|at =f 2 : 8) Conveluhon property. BF ylD= mea hw, then YGe)= xGe) Hye) Boel Sl. pH), then Ryo) = | SQs) ge) Considen om LT! Sf with H(u9)- Dhan on Inpe Flus) gasses through the Sim, the 2p has Rustin transom Yyo) = FGS)Hyo) [ 2eqors 2 nye! | Tre condition Bx olistorhonless Franc mission 16 ~$OTA H Qe)= ke cohue Ty ig te in Fronsmurion: Tn the sn Should have @ hneey phase charackenstics with hmeSome bane transform pains aw X (ps) I 27 8s) det 27 8 (05-00) Cos 0s T[Blo9-c2)+ $ (.94e3)] Sin Oot Tf scus-u)- #040) ¢ 8 U4) l ult) 1 + 1S (w) J? Sin Wea Xyo)-[ +, 18lew od, jos] Ww beagle Tronshrins Per) —s not Rumer transformable Cre rey nok be integrable absolutly) 2 past re Ppayd?! ab does not oct: ob + Lar Du = PEE. IF tan Pinchon 15 Rurien transRomebl, 4 - yok “ - (6 godt Bye)- fg ca - [amet oak -d -w FU) cam be oblamed an &° R'[ Gysd| Than FCN cam be Symtrun sed by spectral components ot Hy Bam * e. Loplow. tran sRrm is debmud w) _st FE (s) < feu 2? dk | Dhue Ss +40 0Cee faye i Fs)er edt chun © lies in Hee region an cya oF convergene domain 15 nok aragpe These ase The syeetnm oF PLD in tee Laphce diPheyent values fo. Auffgaml ways se synthesise PU) for Region of Convergense (Ret) The sek oP values f 5 Rv which FCS) Uomverger is called Roc -at “ a ex P= 27 ulty Fls)« j eek ye i} Eome yy ° a “ - (stadt . [-< 2 [ors] 1 for Rel) > -4 ray Ste J” Tea oC ° Roc # Roe is reqpived Lo evalucts the inverse transkrin. The inverse. is evaluatid along @ path which mut lie in the Roc: \iegral -ak °. L oO ex. Ply =e Ee ack) Fl)= \-e* oo ake ~ f eter a a 4 © 5 cw esrs)t PL Br els) <-@e +) 2 Ste ee (Sta) Roc Tre Unilateral Laplae Tronslom ae Gnsider AH) = ule) FO: 1 | RW) >-a Ste Po): 2 ace) FG) = 1 &&)e-a Sra No 1 bt wrrespordane unis Roc is apecifad - This APRialy a the vesulk of randlivg hon caunral Agnes alsoThe unilateral trans Prin —> All signals aru suthrded to beng caunel “ he F(s)= \ Pe de ° 7 FG) 7; zt Ft): Pure - dt = \ faye. dk ‘ Replace swith yoo in FCs) to get FG) 9 Thar ray be tone ony when the Rot oP FS) inctudin tha ju aes Poropeatis Roe ) Roc const | Abrips parallel ito yu oo 2) For rahoved Laplee Hransfrems, ROC Cannot mduude ony pos 3) H a vw frst ducation awd i absdldaly integrable, then ROC is the enfin $ Plane 4) Ho al) & wight sided, then Rot etirds om the ght more po db 5) H mv) 4 Late Sided, thn Roc extinsls do te Liq ta Ay ment poke ¢) H, att) U 2 Stded, Roc will be a sinp mtu s plane. 4) BH xls) is vwahonal, Roc 4s author bounded by poln v1 echinds to of Propertin 4 Laplue transhrn » H nd) e—s X(s) with Roce R, thenm (tb) <> Seyi 5 SER St 2 nW <> Xls-s) j Roce Rt else) n(at) <—s 1 A X(S) > Roe: lal G) ' °c & 8) Conjugation proportion 7 () > x (s*) with RoceR Thun # ant) no sual, ts) = x“ Cs) > pols om geror mauk ote In Complex. tonjugats parns 3) Gonvoluhon AH 2) <> (XG) Roe— Rk. 4) DiPferembahon An) <— 8Xés) at ROC contamn R % Roc of eXls) induder Roc & xls) asl mag be latgen WF X(s) bon a pol. at ong that in Canulled by. rau thplteahon voit ba) 2» -dvs) RoR Ss 5) Integration i nit). Ate 9X) Roe= R 4 [R>| 2 Ss 6) Srihat & Fred value Hrusrems Hontt) aa Gxcwo,e ult) —_s —S St Bw yt UL) <> _O + Or 8(t-T) <3 67 Causality & Stability § LT sypttinns Casal Pho by beo CROC alive so ngrr hal? s plone’) Stability hE) must be absolutely tnlegratle — An Ltt Shy ts Stable 1FF tre Rot includes Ae fo oe —> Aa LT! Shp with vationa) H(s) is stable iFF all poles ate io tae LHP frrahoral H(s): exe 2° S+) Tor Suh systims , Stabilly ib J be urd by evalualing bt) ¥ “tor unilateral Laplew tronthems, dno <— > 8X@-a(5)The Z- transBen —_ “9 X(2)2 Bnd? we 2rd “a C9ith 2x FY colle vent oD, thin covresponds > the DTET of bs) Xe) = Z, ate 7” atom te X@) js He OTFT of amily” Progen tics of Roc Roc is a ving in the 3 plane combiad about Hu ovigen 2) Roe daw nok tmnbaim Oona poles 3) Henle) is of Rnite duration, Roc is ‘tte entne % plane exept Possibly. 350 Ondfoy 37% 4) He Xl) is rational and mf) is right sided, Hum the Roe exbinds outside Hae outinmodt pol: Furthar if m(i] is cosa, ROC abo in duder ar 0 5) hy Ue sicid nfo], 1P xCz) is rational , ROC erdinds inward quam he innwrmet vion Zeno pe: Furtien WP oaln) is anh caural, Rot Ql indude 370 b) Roc is always a connedtid vegan Tae Trverse go teansbrm m{ol- $ X@) 2". dz amy fe. ale} is obbaime by ‘wikegratiion Grourd a countin Dooku se cloed Urwlan contour combed oF ongin and vadus ¥ The Value 6 must be Such tet He Conus mutt Le in Hu RoeProper ties 4, 2+ tranche H nll asxce) with RoeeR tun ND mEn-me) <—s 2° XG) — RoesR — exeegt possible addrhon or dulenon yoko a) giath) eos x Ss) Roc - &\R 3) afr) cz x(%) Roc= Ya +) Consider my, Cr) = LAD, Fo is a mmulbiple fe OO , Otenotse Ths veprerenti a signal cotth (ei) inserted bly suceenive a 3 ae Valu 4, te onginad signal Then nln) 5 X(e*) Roc RK 5) ef es x*C2") RoeeR 6) nCn\* a(n} es X(2) x, (2) Roc= RAR 7) nan) es -2 Axe) daz 8) Ho afi neo, tun nol = bm Xz) ow Com mon Evans frm pave (nl es 1 2 ufnj<—> _1 \2\>1 loa & 1 ——_ lela \-ag! @ uth} aswu Gauss ality 2 A seve time LT Sli 19 Canal 1PR the Roe oP Wi) is tHe extern fa Crk. Wndudimy 00 > Shabihky —p Roe indudin the awh cree. —> An LT camal Sly with @ vabioral H(2) is stable iFE all pales Wie side the vik cede ) Dpursal Can? fot F(e)= PS) = _s 2S als) St4esi5 CaxiXers) Fls)= Av_+ Az = _S SH Ss (S#(s5) => Alsi) HA, (S45 Solve te ger ABAD 2) Reed, unequal so0ti Fls)-_ Ss = Av + Ar G+) (s+) su Sse - FG Al: 1+ (een ol a7 [G9 Foy 3) Rect repeated roots Fls)- _3 - An_+ Av + Ar Gdies) — (S8) DF as Mh genteel Formate for Lo \ art je se) Bt. (mI =| we) a) Rocks ee vomplee Swriter as for veal unequal sooti Ay, Aa voill ale be comple cargaTime clomeian aralysis_o control sy sties Consider a Sivaple howd loop Shr wing Ve Redbark ay sown Ris) es Gu) co) Hts) Cls)= Gls) { Resy-nlsdecsy] > CO) [1+ GDH) = RED AL) —» 603) 2 Gls) Reprenmls the. Rls) I+ Gis) HO) daud (oo bwans Per Rnchon. Analysis of sheady etal ennov Cls)= Rls) Gls) (4 Gi at) Bul Els)< Cls) wep Els)- Ris) als) (4G) 6s) et) = <' [Ets] ete bie et= bm 3RU) SO 14G 0) HIS) & Thus Sheady stake enren deperds on the type & reagrihids Rls) cma the open loop bransheor Rinehon , Gis)H(s) Types 4 imputi anal heady sbafi ever tononl 1) Unik shep ip RG)= Vs Eyl = fim SIs) = _I hue kps io GIDC) se se 1+ Gls)HIs) l+ ke (sion error constant)2) Romp input (ROD: Yet) 4 UW = Lin SU). Bim 1 Nelo Cast oe aon) $2" SGG)8G) 1g et 3) Prabohe inqul ( RD: >) aceelachon y e..)> dio le). im 1 a ae SS S98 Ty Gls)HGs) $7? S?GO)H) Ke fons tank + t pes 4 systems avd shea shake error SD) Gover Br a sey ip a) Type - © Bypliwn tonsbant ==> Conshnk error = bin GsHls) = kp S30 & te a Shep ip b) Type - 1 system -@.7 1:0 ir kp kee be Gls) HG) = 0D Srmilerly Kp 1 > Conntank An 320 ke ot Hien Vralues 4 error combswls demoli Louw Skeadly- Mak exee Analysis of a i orden ayptinn tor te above Elm @onsd= kK = Ke =e &®D toy Hee open loop mq, T Fim lonstomk — aval the Unil stop 7 Ut ‘Tespo bo K . pee (ine *) cls) 2 Ge) > Kast = _ k RUS) GEG) ek [esta SZ+Urk) st cis). Kak) 2 ke Ros) 1 Sau) este % Thar the flr | ring He Loop as de ahh the pol pom se ob ko S= Yiryy 16 Party Prom tae imaginary aisThin tedusen the Shen Hine consient rom Tt fo Chirk) - Also bandioidth inereanin kom Ws be WDp+ # Thun Peedloaske immproies peed surponat and in, bandisidtn by allorg the. locabion 4 the poles- Analysis of 4 Setond orden eystine Consider & 2 Slo cls) . Ris) S— Aamping Pack CO,- matwvod panenug. Char en: s'Fahe9, s+ (9) 20 Ber tee so? 280, ALPEN OE 2 -£08R* OE ete 0c Kei, te poles ae Compl. Conjugal. pains and the ayttim is unslerdampect > hy Zot, vepeatid real polin (entbally dlarnped) 5 Fer S01, Aisha veal poles Cover darnped) The unit shep weipone Bj tee syttin Wn —F09,% /eCk)= I- e Sin Ced,e+ ©) + Gs'£2 tas! ( (exe tush ©: Gif wt Ce) % GD in te actual c1cillahon peguemg Ko UD, io ta Undamped raherod pregpemege The envelope 4 oscillahonn is determinnd by. £69p,D> The peak of the undevdarmped resporae in obtained by puting deCi)so at 1% alt Thh qua Tes KM Por ket Os Thun the peck overshost ocuss af Tee ,1-e Max value 4 oe ce] : uo TeTp tte UE Rak overshot + Setthiy bm = 4 fy atl FO, 3 Ry s% Fo, Rise Time, bye eGe1 ak bet, t,. T-e ® fis % Thus, te peak overshook ina Sim depends only on < x wo, £Y Ls Faster System Basic contller aehons — > Contollr: - Compares an achual valur uoite a desired value ~ Tries to oudus the error do gro Proporhera! contol me) Ry kp 3 FoxPD lontro] Consider a 2° Sh wit PD conbe| Rts) wr 5 \—>| Kp t8Kp -- ->| —stenFa) > ccs) PD Gnbel Plawt COthouk PD conbo! CG) 2 — Or Ris) sta XO, s+ 09> Lit, PD tonho| Cts) . Kp+ sie) 95 Ros) St (240, + ky OP) S+ Kpioe Thus with PD control, Damping radio! , DOversheot Y = Bandioidts *, Setting hare! cn pin margin, Phare rmazjon & Resonant perk wnproves — Tews vo Gaplify high Heeguomy. noise PI control RG) OF Kp kee Sls42f00) co) RD SP 8 FO, S + KeDEs HOS —> Ordon oF hn increas CStabihly may be alata) > Steady Stati error is Improved: —> Norse yt spilled oukRati fudback conrsl (Output derivative donk! ) Stability > Logue Yesponn. must be abschddy inbegrable Type of vost * Single root ak Seo * Double rook at seo * 3s wt gud ¥ Double pain ak $= wtp * Singh ok ok ongn % Double yok oF origin bw Ac* Ae ’r Aste” Ae Sin Custep) AE Sin (E46) + ALE E® Sin Wet fh) A A tAE —> Al roots have -ve reat pars Any rook with tve read part => Unstable — Re peatia eli on p8 cour ==> unstable > Non repeated rool on Pd coos —p Marginglly stableNecessary, conditions Yor seabibly Consider the charactunshix cam gh): as*¥ as" 4... Faro 7 apo — > A necessany but not SuPRdenk condition oh stabihhy is tat all loefpaiml —4ey01-- Gy Prue be stead de porihve toy a for SF sq, te tern df Codpicimls as a dufpinnd tovaihon er stability The abseme wm -ve nus 4 eeffuenss rnolicak. thee the 5, unntable of abimok rritdly elable Hus olay stabihiy criberion qls)+ a,s"+ ass - 44,20 The Heerwity oleterminant ts yon ws 7 be abe a, all o}o ° o ° a. a, ‘act Tne necessary Asubhcenb condilion dor stably ane a, 4 By 9470 0 Au >o As?0 .---- 4,70 a3 a 4 Whin AL, 2S), ts marginally stable gs hy gi sts essiast+ los +520 @ 1 © © Arbre e Dye Wbntbe 128 30 ye 18 o 6S lk NB 45,dy>o oo Sf wa Sim is SkableRoute shabby eviberion a Qbd= as +as” i+ + a,20 Routh array : sla a ay a S"| 4, 4% 4 4, S 7] br bs by Pr ol an bs Aya, - Goes bape NIAMS ay a oO, = brag -ai bo Cut by The prowss is conhnuee Fill te wo conterpordiong to S18 cbleined whi in egpal ke arr The mecemsary & sudticmt condution dor Sablily a tuk cash berm § the fest column Route array mun be ve don aro. tin condition is mak muh, the tm is unstabl. and the no 4 Sign Chores in Hu int column —corvespords ds Hu ro q rtooti in Ihe RHP s-plene. % Wham fink clement 6 amg 00d Routh anzny tn gore, coh suk § the roo bar at fast one non goo Jam, Suplaun the sero with @ amd enaluahi the suk | tle rows ole be, oR Reflex S by Yh in the chawasterishe eqpahon- Tin vreps LHP anf RHP a 8 piers de Lie & RHP a plane- Cnak the stability op Pa puso chavateriske equation. The Stabifily ill be same dor both. * Cohen all ehermambi ff omy Ont roo are gern, It Indicalis Symmetrical locatid sect in te S-plene Jn such comn, HePolynomial how Goel — ate the Aeemonti tha srw. pork above Hu sow qd geros is called te asociliany pelynorviat. The roots He auxihay Polynermiad au Hu Soot thak are syimmehmcelly. lecatid on the $-plame Ralahive shabilly = Settling bime oc | read pork 4 dominant sats > Whethur CL sronts Jie te te talk ¢ S275, Com be neded by mo dete qb) wilk qlz)= 4 (275) amd Checking Hoa Rows. ciiltnon The Rook = Locus Mttecd —> how 4 the plot q the Cord oop polis at @ Rirction Q the open loop grim, whem Kk 1p Vaud Yom of to +7 kK K vasupng yom © te +0 ——> olurt recb Louw kK Vomyug Yom -@ de 0 ——> invene stock Locus Considen Gls) H(s) = K- NGS) Dés) Open Loop geros ==> N(s)<0 Oper teop polis =a DU) = 0 Chereel oop pees —> IF GDHG)=0 => D(s)+k Nis)=0 He ko, DG)+0 gus the coud loop poles ==> Closed loop polis are game a4 oper deop poles a kro (hen ket, cloud Loop polo a obsaud hom NG).0 1 Chord loop pots au Sem an open deop gers for k=00 Tear oot Dees start Yom am open cleop pur for Kero and ends en am open oop aero fer Ke odArogle & Magnitide Criterion Charoctrinhe eypration > 14 P()e0 where Pls) = GOHIs) Thus the clered deop polis ame valu ds sich thot lPidle1 and ZPE)= + Cte) qn) 142 0)1,2-- Thus if a point on the s-plane Sabisfies Hu angle cvikemion, we Com. Yin K such Haat i& rants te magnitude critemon alec. Thus ik iio poine on tle nob Joos. H a point S SahsRes the ange crilirion , ten KE tee ek flo 7 [sl F sa] cohen 3 &p ane tu open oop garos and poles 4 Gls)His) ie kez Pandusk 4 phanor Langit norm ste open loop poles Prrduat d phasor langlhs fron Ss te open Lop pp Denard guides fb Conskrushing root Dous # Rook locus is alonys symrmubried abouk Hu sual ads A Omyinatin rom open loop polis with K=0 and ends on open stoop Bees 1 on 00 Loith k= 0d * A point on the sual oocis lies on ‘the sect Sous If Hu no 4 open oop (pols t zeros) tbe the night § this poink us odd % The (rm) brands of soot tows coluch gots te of alo to along Straight June asymptetis whore — agli an quer by db = Can) x ied: 42 1, 2 > (nem) nmx Asgmptotis oon te seal ous ak @ pint Called confrod whose TN w-ordimekis ane Your as T. BZ reat pak § peer 4 GOH — ZB vest posk A gar 4 GOHO) (nm) % The breakaroay point on the srovt ours au the Soluhows § Mn epahon ak so Te Valor 4K should be tye ak thee porn Yor them as Jo le veld breakarooy /bresk om pone The argh ak which He sock fous Jeaver @ compl pr ard arn ak a lomo Jero Ger denetid on Ha ange A Aapnthese. amd — ange & annual sunpertruces anya 4 daparhur fom am open loop pole 24 Bp- tie (aged tp 3 qs 0,h2 hue Go the angle g GUHIS) ange an do le calenteled- The excluding the pole vohaee Hn P may aro be calentatid as Hu nek anya conknbuted ak ths poe by at oltun poles and ganor Stealarly, angle 4 arerivel ak an opem loop zero ui gum as B+ # ee Cage) — 5 Gz o,1,2. The nbersection & toe soot fous cite Hee jd coos 6 dabiarnmed ror Routh critinion- — Cnshut 14 GEHL) = 0 — Develop Routh array in tems Qk — Find the value Qk to get a ae A apron. = The seots tha arouthany egysahon don thin K quer the inkinsechon prin 4 tla rect loun wife 4e0~ cout¥ Te addition | a pols Shift the crock focus towards ye -aous cable addihon 4 a yw shifts ik Sowaeds te yt bal? plans.