‘Time Oomain Analysis Of Control System» Cee ent steaoty & ape Y(t) aye (Ed + Yss Ga 5 eH af es) 02a VQ ee a 24 VIS) = lS) ¢ BC9) ee e2(5) = Rl9)~Yl4) Y(s) = G68) [R6) - YU) Yye)2 CY KG) G15) Vis _ YEME GBI ts} #65) i 3 eae oe V(sj Pit Os Teg Sita. Rb) Y(S) [to ee [-<< \ r Saga Se \ y \Se Ss \\ie os \ = \ \= \ 1 Sola tine baplor-rcy So) | P04) Rik tine _(10-/. 40.9 ey Be — ( IOver shoot, pesenane hoot ol [Le ence hedateen YELM red oneotinecn Yale > Mart inten OMAN E OP aldves wdope AY Yrrare JSS a 100d « { ia A Delay time. (ol) 1 defied ar the ting veqpering fe he Sep cewponse fo reach it 507 \eate, Rise tes lve wequ ped poy the Slep repent fo 86 om 4.0-7.(0.1) 10 10%/-(0.9) of the Prat value, | Setting Times- Tome year for the Shep | ICFP Ons to Aeosreare and steed wth by a Npecify zat of its frval value. ' j A equcatiy dseA yalue 75 83/. of shy fral values Steady stale ervrt- ( 5) 4 Zh meg Arses from dofe of NAadwet of Pped- te C Of SttsJem Fron Ii | Of sysion, IPR ef Ff Stem Enon ling Nlon- zero (3) «(finite gain ie, poles are, | mot at origin) . 4re" ger [Ade eafinjee yehe pole p cond pan re doar've Yacn pole | Yio) Ro) og) 4% gh 7 EG): Ris) BOS | ee | jets) = Rts) s- Stkia A ppipicg. forat value theme 288 = ho _eltj = line fe) Tes fs. _ i ee Sr SEK SG tty ; 4 Sse Le, firth i. es? ELS KS bs _- lie vate kj fa s yo ! a Flaw a em — pes 0. el = bus) 2 eee = A SAP Y3t3) Qn ht bite a Bt. Cf8T = (4055) aa sya!) fol (later) Type tl? ee FS outs) = Wlle2s) Ee Type *37 Oxreleg- ea?Stacy wale Crror 10 a HP Vpe Qop ie Slen IECA) = 9Kls) Jo J4Qi(s) : a _& = £K/s —= te bet tie &ls) For Cenvenicnte, “Xe ays crs) step eqrer OM Slay eG; =_R lt4p - Gs = it hp Th Eee to hae ess co Lin &ls) = 60 S360% Ef ae hos. fhe tel ting stem Cr(5) [84 2, Sete ylttp)— nihet nz! te. (3) Peclude hndegya dors ; wt a type ‘in? Sysderm Lou» §) = OD od ue G(s) and es -oKC: St c+ B. 15 - 7 3 (84 51282 J. ky a bro S. ols) Sot (890° in Bix Ke (348.15) _ ae IO+LS 34052 = oe kforats) 6/5) (0-5) ee yak es = Ro _—_= » oakyo oat veabolic i/p Lim £2 Gi(3) 2 Lvr $™ (se 3-18) Ia = ts $9? Sst tS1ote lea Pa) eS = Ro = © Kea the’ Tee Vis) RIS) THE = Gals) It Go SMFS) k characlershé eas pheen Cee se It G(s) NC) 20 It K(st81S) ‘lao fe ea ) p34 2sr4 0,955 des + 3.1SI = © 93 +297? O-FS41C)5 + BISk-o os 2 (o.7stly © 5 eae 2 le a e ¢ 2 ‘ . o 8 815K 2 2Le 4) 4 d<6 — oe -6 __b*s412) a : S841) Ake a0 SS 4)25e+le Qo oOwiz 27O_ a C- es a Bis), Wis)ep ; 5?(S42)U45) L? 7 Syslenn - = bp 5(s) = Fe oils Ta Eee “pane ip a hye Lies g. els) bi Sx & (s+4 Pa so. ia SUSE SY Parable i = kas Linn, sat) 2b 2 xt ssi) = 1 SA StaED ID. Pk TFs yes) — als. ial : a Res) _ EPGLD HED =. ee __ therattes ai ey te (s) Hls) = © a Te BUSTY a a a SZ(sfiay(sp)yo a S842) (S45) 4350341) 2-0 (341262) (39 Ss B)pSstSee——— SY 4553-4125 34 6s 40S 4A S= ct SI* 1493 465% tOSAT =O st oy £6 SPF 6-0 5s tang) ie St -(20b5 0 0 _§. 8 © © x Stjstern 1s unstable Non -wnity Feeolback System (3) #1 no poles at Onn _ os . — Hs) = Hlo)> Ku 2 constant 2 2 tl RS) -VlS) eee ~ Vis) 1) ( Rb) — lM 0) Ros) a Es YG) 2M6s) aes <1 fi tc(tly] 2-5 ©)ess = es ple F a 7 ; - ) = HA > yet * cals) = (6 7ZYG <) 7 f. 7 U5) _ oe _-é Gf) = G5) r dG RTD == a Lit rn [pee 1 Lamm. Sr 4 St labeken SG fark Stan be gs ee i CnlS) 2 BSS : —— ab (g24125> M45) —_ - Oe Bee : 6st A = S44125 2455746085 * - ee | Sites teens oe 6) o> Gls) T i+ + GylS)HO) - ponaterstte E Ev oa — le @tsyH 03) = Ls) 2 Gls) = SS a 4QO)HU) S41 9534 | | Now lom_ compare coethtinb of nusméat @ OF As and bs clensrymmale, +e get VelusyQo a5 1%25, Q,26 bo =5,_b, 25, fa Sip ifp. =O ne (2a =o.) 2 YW ~ > C4 = as bok, ee2= oC) Os zo Room ifp. 2G ) = tor (antbus ) = Wnstant Puck value Of oy and by €u =6 : Kerabolie i[p eee Ot ~ bien ap S5 =o (Sab ky i nasvy | be z bromeh terns, 28 9 on BP lowmebrn will steytaloo. ‘ke dL (32 he number of branches teneiachiq on fafnile = oo OL ehavatlershe egy, 100) Ant =D oak chacacledste coy y 7 Ie00 L | Hor dey 1? Root locus ~ Chapter #08 tee Rot Locus Be Numerator = N(3) Bo nator OLD 7 penomenator x Root locus ‘anch 1's forme foradd numbers p=o A Zero means sthak poles appa aching Oto od - db) 7 S$ Pole. diy 4uN(s).<0 S| Ddi4 8 NBl=0 {. ol | ile bf ry | nto = 0 | (oy oo 4 0y Sle g G olen caee o H/s) =] = S(S+1)(S42) €: Sole N, Poless Seo , g--4, Se-2% ZerOeS 5 S200, $2-%, §2-D ke =O —» 00 Root hoes Branch B Hof Asymorotes N=P2 63-0 7 XX ieee = 2 Oh = (241) wor. bo 6 ners 2+ Oh. igneo Ong - 30° D Centrot ‘entrotel Ps Roreek ples ~ Srveal 2 ervey peered |F=4 mMoa pO = Ss Fe 2 mynd h XIO%= 2x04) xIgE" = 90" 2-6 _ Seas — i cnayalesstve Eyre el) HOleo _ : eK 2 : - TT Srey _ SSH = ©Ste =p lo - =~ Se SPlane & For break a 90° Q-paes Core } | a K For brealer, Ne CE 2z2Eres Ore wer yeaptreot i 290" - Re * Intessechag vale cannot be fourcl for tA case-ay values of IC Ofer than Dy Zee cloemre Exe k * Break ausey poink ly SIS+S)5+H0) alusys Ws abwe fs - you toad bark P2 6n0, & —-S,-lo D2 1-08.) — 09, ~ 00 IR On, = 2x04! y leo? s bO- 4 3-0 a 3S Pas 2elt) vio _ Ih 3-0 j Ory - 2eI+/ K1Ig>D = 3007 3Broke : 4 GS) H¢5 ) = le SIStSISHIO © SPAS MH SOs tle _ Me S3s2 soe —_ Ok .-2st-yOs_s5 ul. sso a = los —Sorw - Abe, 2 ——— 759-4 kK po — ook — ——— — ) OZ KAASOIc HV < IS9t4k 20 ISS*4+7-5020 Sst =-450 in oe. Angie o Geof Mapa ae Pol = Igor Ba = (gop %= Zp. =. A Angle of omnvalsQ Gil(S) = — 2 STS 242) pees: S=O,-14 3, IJ wees - S$ =O ee fott y+ 3-3 Break awag pom ts _ lp GlsyH(s) =O 14 A =O $ (S2¢2S42) 342942544 = O je = — GF-VS*— 25 35% U4s-2 =O Bsr+Hst+2=0. Si,$2.2 - 24035 ae a od 3. ZL ake B) lo 2leey | Dgrphe gay 2, gh od Ie gh “Eo She oO Hak 70 KIS UU co Si ag{% = Lia) Saarj¥e 14a] Anglc of Peperhure ‘Pa = \8o°~9 1 B= Xp - Sz = {toe P2205 Pa = I$o-295 Led =-45 |-_fPnite oper Joop zero oro (ew) i Part -P7Zz ep re (branch anh degmicats) +2 >P (one “il sie) @ The number of _bronches terrnuaa: eee L_ Ori infantis (Novot asypmploles) 2 P-2 ih pra Gs (escai Igo° QV 205),2,.- P24- : ; Saye ete mrieet te aoe o> comrorel s exe rtzvercl » eis at contretal (4 = sun of went parts of poles = z pee of went eens te er ro ae ieee eet Breall. fr porch cake a beck ( Break away acral ’ = solv ry alk %o % 4a (ae ROD 2 The angle of cleponture freer AO OPee Loe pole gives by =e Dp = sh IPO7( 29-4) + p wwthere Ga C2 —CX1+O8t+Or) eye ea tee ob Re angle of errniveatl et am zero is ¢ open ieep Pe ~t1@0(2V4tII-D poy - 23)22-,-—~ | elOo Re fotersection at weet loous oft = Aas wanches . = = Weith the fongmay ons con be cleteerFecl PY use of ~wouth aorfierten: