Onit-I

Tvpes of yc*emC: Ccontrol Systeme)

0oen and uos ed tooP Systenus
6.Cancal& Non- causal
n hwous &

. Lnea me
nvoriant
parameterc dont
Disire re
signal Systems 7.Static
syStemc CLTI/ Non-LTI *
Oynamic

ehange w.r:+ ime

4 LincaY * Non- ineayr
obey priniple Of superposition
S. Luwpea pNrameFere
predierable
k
Distributed parametey eystms
Control system aput onols -

the Outpu'
mulivariable covntol syskemS inpnt
ar
-

olepend ent on
parameteve
each other
md epend e nt
control system- nput parometers are
hot depe ndent
sen auo pee
. nat is a systemL
acc
Pedo mobile
déceetion

a. what is a control system

ccntrolle cnrollee
actna+ina ystem P >variable
Signa
> pen loop conrol sy Skem
npuet is given to a sysew anmalhe olp is
osewed Ohhout
ay fosdback

elosed oop eontrol syte

has fee db ack, contro ls monitor -has a contro ler )
LOSed toop
eror eak) actuah Set
dptecho desired peiut

Pdal_roller Splant
olP

Speedom eiêr
fcedback
Peloop
Jesired deinred

Tcontroti ez actaating plant

Signa

Chavacteyisics ef a close top ysk

. tability
2.
3acn
3. sturbanLel noisee
4. bandwidtHu
5.esiivity

Open lo op cloceoop
o fe edback has feodbaek
m Ore nOISe lese noise

ablee Stable systtnr may

beome
unstaLle ar ice versaa
mple
Coplex
ad setpoint hac a setpoint

Basic eleme ntsof a ctosed oop control sys+e

YroY detector
2. plOant
5. feedboock element
conroller
.LincaT *y*tem obeys +ne pri uciple of scalar muulhplicaHon
Cnomo ty) and 4ne
principle of supevposiio.
Ex: C
rent -flousina thrcuah a resictor, comveY
2aho rounding
Powe F ing -hrong areistor i non-Wnear
mosFET, diode are CP y)
non une
. f Oauy Oevice has a threshold, tnen i+ is a non-caeor
devite
To check for Lao of
adolitivcay

syste
>JE-
sysem
Pace-

t t) =
4.lE) +4¢E), Law af additiv ity is
saksfe
Law of homoaenty

LE stem

t) = kyct Laud of nomDg enity cs sahaßed

Oyct) = a + zct
KCt+act) = {'CE)
HCE= 2+ ziCE)
+Ie) + Z2ct *y)
E=2 + 2t)

o+ Cnear
ce = *ct)

Srtt = TV
t a t

E) y'CE) LO s satisied lt-a)

kCytE =Keiie»)
e
LOH CS saisfied'. syetm is inear

Check for uneAYIy

e+xCES ICE) + zact)

+ zaE) JCE)
attz/cE) t +*ce)
E + z2cE
+*aCE
cE+y'CE
8CE) 4t+ *Ct Ao-Unear

ytt zeint) CE i+*) sunt

* GiLE)= ai lsint)

= (*1+x) sint LOA verifed

Ct)- CES +Y.E)

Kzcsint) =
kqtE
kxtsint) = CES
'CES= Kytt) LoH veri fied
'
The sy Stenn is Imear

E) tt)

lE-p) co-(E-t)
place t,
 LineNY n me wariaLe

the para meters do nOf cAaq rt to 4he change in ime

, wnear tim varance onsump hon of fuel

em delay t-)

lay C system
E
i t) 9cE- ED, system is unear time unvariant

O zct)=2t

2-to)-yeto> TV
ce+yce- to)
ime
vaTiant

cE = 2+ x tt
a+ lt-to) 4E)= y t-to) 11V
E-to =

Eerr ime invori ant

CED *lt- to) = 2+2et- ko)

umped parameter & DiStributed parameter sySFeMS

Phsic Wavelength ot.

unaped- R, L,C 3i2e not comparable to he
SoooAM.
C vey very smal|
is \

Omagnetic Oaves/ radiaho.2^C Conpayed. to 3xlb8

F PLC
olribnted -
>P
comparable to wavelength of eleYomaqnehe
Tadtaion I n bnuy arnd
Tran2m
Cansal - has me mory, depends on past k present values

1V
Sialt5 Cot 2U
=Cot
Cont lo-t)
 reference lp comiol
CCt Cconrolled ofp>

RCE
laplace
Iransfor
Transfer-funcHion P cct CC2
RCE RSS

Block oliaqram element

signal
Crror forared
ReSD
>Ccs op signal
*eferenLe
siqnal HCS). CCs

H() Manpualid
feedloact Cmhsell
elemeF
AS
A
PlatF
DISbaste.
Cet2
RLt)

Cct) = ARcE)

3ain P

ECs) = RCSs) - HCs).c(s) Žfeedbac k path F-0

cis) ECS). Gs) fovusard path f -

we get
CCC) =
(RCS)- HCS). CCs). Gcc)
CCS RCS). GCs) -
HCS). cC). GCs)

CC + 4Cs).G(s)= s. RLSSS

cCS
RCS +GH
+ s). HCs)

Tf feedback is Ve

Cs
RS) I-GH
-GCS) HCS)
 eralized transfer funeion of a cloted coP

RLS) t4LS) HCS) tGH

Bicc iagram redncHon tehuique/algebra

en He blockS are cascade d Cin series ) all elements

can be reprec ente dn a single block by tating their producE

*3CS)

X2Cs)= X1 Cs). 41 -0

tn
X3 Cs ) = XI CS). 41: G
X3C62 G1.

X3CS)

parallel, repLace the elements

.when the blocks are in
thetr sum
by a single block. by taking

XICC)
xX

41 4
by retaining the
3 movina Sumnmina point behind
9

cuathan be hind
front

X3 Xi G + Xa4
 Xp= X1 G + X2G

X2

hen he ehind the block,

summina Point is sif ted
M ply the oter ilp of summing pai+ by

movin Summing point anead ot

=
X3 X1G + X2

x
X3 Xi +**
X3 X
G+XX2
S
Movin tate eff point benind the block, mulHply
by it
Pointfron
oPP
dhere the olp is takenin the
direchoa
6 oving take off peint ahead +he block, mnltiply
by i

Otain transfer fanction GLD). uSina block

red ncton
RLS) diaara mn
tehnigue

RLC
TPLiA
 sP TP SPa
P

Ha
S
tep 1 move TPi akead ofG| multiply by

RG)

RCS)

Step a: Combine G |& G aare tn parall el, they

7 add ed

Ris)
TP P ccs)

SerS 4 G2 are in Series ith Ga

RiS TP
ster 4 move TPi behine G+ 43
RCS) TPa
T CCs )
G+6)F

Ha

SIt42)

H
Btep TP2 TP2 are in parallel, H _gHL are ad ded

RCS)
>ccs)D
1Gi+S2)i

+4)93
Step: H cn seies o it uock

RCS)
T7a

HGHL

Step : Block0 & Black a are in parallel

G+443 Ha (aH- cCS)

H-G1+94a
(S+42)á G+) G3
L
SaCG4+G1)
(1+2-) G2
Shep T eliminating feedback
CCS)
2CS)
ItGH
CCs
RCS)
G+G) Ga

G HaHG- Ho H Ga HaHs4a
)3

RCS)
+HH, G- H3t4 G2-HHa4G3
For the given RC
netoork draw 4he block diagramn
obtain he roans fer funci on
Vo using blokdiaara
Tednction techuique
V

For BLL
T CI
2 VoCt

I RI Vict)-VCt)
4Cs VeCs -Vi CS) Vi-V1
RI
or CJ
V

de

V cs)
CS

VI- V V CD
TLs) Is)
VCS)-Vo(s)
R Vos)
Vo
-dt
VaCs
-(I2)
C2S

TVos)

vusy Voc
LYs)
Vwisygaia

ep: movve TPa- benind CasS

2
v

Step cascade Rak Ca

tep eliminate fredoack

H 1

Ras_
Sep 4+: Cascaded

cs(l+ RaCs)
8tep CIsCI+RaC2)
CEC+RaC)

CS R )
CSCIRCa) * Gs
CIs
C+RICs
Cs CI+ Ras)
Cas

C sCI+RG)tos Vo

caseade

R C SC+2 )tRiCG Vo

1+RCaS-

T+RaCas
+GH + + Gs
RCsC 1+RaCas) +Rs
RaCS
Ki Ci S+Ri C S*R2C2 +Ri Cas + Ri CS

RsCI+RaC2) +R S

Ri CIS C4 Rac) + R, C
Awfcs(Pacs u) Cs
+RaCSH
RCas
Re S1 +Rc25) + R, C2 S
 LHa
-cls)
LHa

Obtain thhe block oluag

the transfer funcionpr

T
Overa ll +ransfer funnchonis

Oto find R

Let R be = O 34 can be removea

Step 1

tate off peint te moed benlnd G2

Step 2 Remove feedbadk
Ga

H-
e asLad ina 431+Gat eliminaina he
feedback. loop wit Ha/g

Ga41+GsH2
2G31+A2Ha
u42Y #2
 e Ga is easeaded k H
fecaeaak. Loop C
etininate d
R5) CICS

+ G2424L

9
IGe+ Gt G2GaH1
H3+

G» GCS)
I+ G3Hat HaGt Gi 6243H

RICD +GaH+ Ha9 t G142GaH

find
Let R- o
*pl

ming elem en ic einninated

pa: move amnninA element be tn

TP

A
p. G1 & q2
are caseaded + G4

tepq Eimina te Sa
,

shep
Etiminating fe edback
L
+GaH
 ke: -G92H1 * a are a parallel & remove sunmnming poin
R
1 Ha-

19a- 4

Skpt: easeade
Ra

-HA G
-Ha

Se 8: remove fcedbackL

93C+4aHs)
+at G3Ha

G
+ HGS+ eHt
+ H

(Tor
Tor +he
the iven oliagra m draw
he loce iaqram &

fnd +he trensfevfunchon

AM
H Vo Vo
vi

R V-Vi
Cs)vo cs)- vics))
R
 S)

Vi

VsCs)

VCs
 Tntoria
potain the
tansfer+undion cC using blockolaATam
RCS)
redneion technique

RCSD
GIC
eCS

ep remove feedback

92
ccS)
S tH
Hk-
Srep 2: move Snmmina poit lbenined Gi
RS
S1
CCS)

removing one summing elem ent

T ccs

ept:eliminate feedbact elenm ent

 RS ccS
1+G2H

S
+gaH
+tatIG,|

Sep S: PAralel com binahon

RCS)

1+ t 5144|
SlepG 1+41 &
are cascaded
+GaH+ G1GH

ces)
RCs)
+Ha+GG2H

C =
+41) C

+G42+G1s2H
T44F
Cs)
 move TP ahead ef G

RLS
LG4
CLs)

Ap cascade qa G3 combin e G4
PCS Ss
4942+44 s)

aH
Step move 3 anead of e
RLs

EH
LsH

Ris)

Cs)

Cis
3+64
ep6 cascade
S Ccs)
GCGaGa + G4 2
I+GIH2

Step remae feedbac

Ccs

+IH2
CG4 +4)R2

C4qg +44
1+GH+GICG244 +4H2

Sep8: vemove feedbact

C2G25 + 4D
I+G1 H +6iCG GG +64) H2

I+G CGG3 G+44)

I+GH+ CGa 93 +64 H2

CCs
CG2G +44D
RS)
 LHa_k
L

Step1 moving tae oEf PeLnt banindaa

Step eliminaHug feedbact

1+9H
/2
werre e linninating loopT Lnt loop a

p eliminating feedack oith Ha

1+GaHI

8tep
1+4H + i29312

ep4 Remove feedbacksith A»/G3

T+G4,-S24sH

+GH G263z
CpS G S2 á3 + 44

1+5a+ G293H-4192H

Sigal tous rop

repre af the sycm
SFA is a qraphical setaHon
- different daputs come to
IP nocle townich
.P m ode -
from udhich outputs lbeai
3. onuard path-

4.LoooP
-H
Exanmple:

ccsy

eCs

(r)

RLS pccs

lo obtain SFg, Maions

TE CeS sing qain fornnula
must be used

T.F
=F

P Masons
A-
Foruord
PArnS
 Steps t befollased
Find +he no. of foaTd pats and find tne
ains of +heforuDard poths
Cpathfron ip to olP)

9Find tne no of looPS And their gainsS

Cfcedback loops)

aain G19243 44 HI
H L =
foruanTd\/
Pat fe edbac
Pat
1 ind the no ef non-touchina
in

looPs
no Com mon node
2

-
L H

La LI-tonchina
LaL touchina
Li La non- touchia
L La3 tonchina
Caainproduet)
Hind the no. of non
their
-touchina loeps and ind
gain prodnct
in fhe
ive caie here is no comblnation
F tre e nOn- oucning leops

Aain product =
4L-3
. Flnd the ddeteyminant a
A= l- £(individnal loopaain&) +ECoop aai
Productsof
N TL

ECooFaaln praduck)+ £( loopgai

NTL Prod nc of 4 NT

A=
I-CLit La + L)+ (4La) - O
Bxampel

Pi-
LI - GH

+GH
T.F A
PI
I+GH

-Cloops that dont tonch Kforuord poth«)

Aforthat part ofthe qraph wnich is not
tDnching the kT forward pat
 CCS)
-A

J. Find tne no af foruvord paths

no Offoruard paths =
2

2 6 3

Gain of forduard pat1=

4 G5
Ks)

6
Gjain Of path 2= 6 14 G5

.Fnd the no. ef ndivtdunal toops

L
L L2 AstsP)

La =-
GaGt2 Ha
3. Hnd a nontouhi ing loops
INTL ,LI& L2 A2HGs Hs

T:Find 3 non - touching looPS

o B non toucning loops

5.A 1-CL+ L2+ L3 +CLIt+ LL3) -

(H + st t a24gH +CGz H GsHa +is HaG2a

 2

Path I
-
nas non-touching looP to the

ford uard pa-th

Patna nas ane to op wnic isnt touchina

-
G2t1

Aa=1-42D
+GHi
7,
T.F £ D P

aC+(+a2)Pa
A
GIG2Ga G4
as+CI+GH) S4s G6
A
G2 G 44 as ++GaH)
+( + 4sHs *
S4s6
Saa42) +C2 H4s
Ht*

CcS

Ge q6

H
 patns =|
&epl: noof forward

Loor aoin=
wo. af individual loops
f ndividnoal loopss
I. LI
28
G4

L4 213 A4 s G6-HaG8

3. find tne no. ef a nontouching loop

a o n touehing loopS

LL2 +42H1 G4 H2

t o vnon tDuaniAlbopS

S. - +L2+ LS+ L42 + LLa

G4 Ha
tGH
6. l- o

1. CLS2 Gi G2Ga G4 5 6
RL
 - HA

Ouo of -fonward paths a

Pa
no of individnal oops
-GaH
-H H2

-6 H
La G11

no of a non -toucning looPs

G sH Ha

Ll Gai6 H Ha
La = GG7 H H4

o 2 non
-touchi na loop
A= I-£Cindividual
Loops +£(aNTL)

+4246HH t G247tH4
AA t-2
- C-G6H-G4 onsidering
+Gs H + G7H4

considevina P
A= *G2H+G3H2
ccs2 RCS

H
G
A
-R -H4

No-ffovaard patns
0P Loops heed on
GG22 G4 Gss
Pa G5 G6 start R- end
attne sanme
Po int
)no.f individual loops
4
-GIH
H
Ga
L
1H
- GaaB
L
-H
L
L -

G496H4
Ha

Hs
-H
G
2 = + G2G 495 He Hs

hot considered as a loop

-Hs ac 7 repeain
 H6

4s

L
-R

-Hs
Le

H -H
(2) noof 2 non- toueing loopS
LLe GH G2G3G4 Gs H6 Hs
L Le
GHG
LaLe = GaR H
GHGa Ha
Lz L4
G24C H4

L3 L7

no 3 of non
tduuchina loops

= -
GI Hi Ga H H
 equaho for te
Write the
mecnanical netuooTk
rep : outdiffeventnodess

xl
at node + E + Bida +
F Mid L
Lx1-Ra)

tep To find analopus alecical nethoorlk

E
idE
Fe K +
+Mdaz
dE2 fconnecked inl
Series
vV Lda + Pda, +F
de if seriec>
Paraltel
Sep4: torce- voltage anal4
F-V
M LCindnctor coil
B R Cresisto)
EzCeapacitance)
RI
V F
M.

La L M
C
R B

tSvde
+ da¢ +

Dandaloay FT analogy nerwOr E re tains the

Shuchre as it is butreplace

F
M Bi\e with C
RiL &PE£
M=C
V2
B replace *| uoith Vi> *uit
VI H Vz
Procedure far Converti D to

RC 2

44

7 e3P
Ca2
odelling of he physical syskms

F=mo aceelerahoun
)
M P ( Cdz

lislacenm ent
Fe veloihy
F Fk

ap mecnanical equivalentkt
Lo. of
nodes no.o

T
displaeement
MI

m
Ma
 Or he given ec hanical
ySeu draud:
the equivalennt
B wmechanical
m writh the dAifferenhial eqs
ortne N/wE or syste
Draud F-V anal oqpns ckt*
B orite +he equations
rauw he F:£ analogous CEE

B
Ba

.in a rotatioual sySttm

F- Torq ue T-ola Te k

M- 3 CinerhHa) Te Bcd

*Avas +he nechanical equivalent

Ori-tn +he eauahiO
oraus T- V analogons eircuit

a+ node
T Jida1+ k1 Ce1-@)
For the system
.Drau he m echanical eonahon natu0rK

2. Draw FV anal0qous ircui

3. Draw Fi analogons cirCuiT

Ma

dt node <1

Bidai
dE
+ kiz + MidzL + kac1-)

at node a
O
KCz-2)

. R
n- mL

Ti 2
KC

Mc
BR

V,
 .rau the echanical
m3 Aetwork and uOnte
Ba equahons
B 2. Drau F-vanalogon
H RE 3.
3ous ckt
Drauw
F- T analogo
sous ckE

.
B

at nede
midx
dt
+
kz +
BeCx- +
de kCz -2a)
at nade z P -za>
F Mdia + Ba d ce --) + kaC2-,
dE +Bid -a)
dE

dt node Xa

dta de
. m
L
Ra

La L3

C 3Ls
 a mechanica sy sFen
yansfer func tion of
TF
FlsS
T.F X2Ce2
FCS

m
T
ma

Draw mechanical equivai

wri te he defferential equakdn

fcts Midz + ki* + B dai +kaCx-7)
de

uode2
O Maola
de
3taking laplace. voansforw
FesS =
MS+ B,S Xi CS) +
KixICs) +Ez Xics) EX2(S -

x te32 MSA+ B +ki + k28 -X2s) E2-

MasxCS) + kaXzCC) -

ExcsS
 +he e by rearranAna botn ea he
represenhng

X
. CFCe

M3+ B + Ki+k, -ka

- Ka M2s2+ ka

5 Fo XCc
hnain tin the iret colum as it is

0-(-k F
M Bs +k +Ea FCC

O FLe
A
X2CS
A FLS
A
For X C
A (Ms2+B1S+Et ka)
FCS) CMS2+E2)

M +
2
A

X CS)
FCSS
= ma A
tk2
 K
m HH m
o Drauo the mecha u ical ne tuworK
nd +he T.F

0 FLs =
k1*i+ Bidz +M da2
+ B d Cz -,)
Mdlt +kaa+ Badaa t Bs d(a-)
de de

Fs - kjX (sD + BGX1(s)

+MS2X CsD + X,Cs) - CBX,u
XCs Ki + Bs+ His +
B - B,Sx,cs)

BS X1Cs)
X XsS M
t
B3+Bs -
B,s KCS
B3S XIC

k+ BS +Ms+ BaS
Bas
BaS M F
+E+ Bs + BaS
For Y2
+ MS+ Bg cs
[K + Bs F(e

BsS
(kI tBs+ Ms2t
Bas).m +kt
Bs+Bs)
X2Ls)= BsFCs) -(s=)
B
FLSO

For X1 CS)

B3S

Ms+ K2+ B2 st+ Bas

X CS F CS> Cm3 +t2 t B2s +BS

XCS mc2+ ka +Bs + 83s

FCS A

3 d201 + ki CO-o2)

0 3, d20 + ka0 t K, Co2-0)

d
 -k, as)
)*k tt = TCS)

OaC
Js +K + Kio,ce) - k, o,cs) -0

TCc)
-o 3,s++ O

TC -O
J2s++k2

() Draw mechanical
e
wie diffeven tial e
8Detrmine X1C
FCC
 B
ODrau mechauical e4

I F-Vanalogous
dekrmi ne X1CS>
FLS)

Elecomechonical Systtm

R L
CE)

F ile>

ind T.F = XCEP

ECS

Consider +he elecrical syske

Ectt LR+ Lol +KbdL
dt

APplytng LT
= + Ls ICS) + KbSXCS)
ECS TCSJ.R
I) CLs + R)
EiCs KSXCs)=

ICS
R+LS
Cousidey mechauical eystem

F Mi Ka+Bdz
dt

F oXiC

F ke ilt
keilt Midz+ Kiz + Bar
dt
applyina L-T

k rts - MIs xCs) + Ei xs) + Bs *Cs)

Ep As) = XCS)MIS +BS + Ei)

ICS= XLS) ( misa +B15 +k) 2

- Eicc- lbSXCS KCS(ms2+ B1S +ki)

R+LS

EiCS) X(SD (mMs2+BIS +ki)+ Ebsxts

R+LS
R+LS

Ei Cc)
c +CR+Ls) m2+BS + kD
 MM. m

Vo

T.F-*CS2

V- i + 2d +JclE
dt
Vcs)= ICS) + 2s Ces +CC
VS= rs) ( +2s + 5
ICs)= VCS
CsS= Ics)CI +2s +
+2 *
Mechanicalsyslem
2 d 10
de
dvo
2daz
SKCS) = 2 xcsS + tO xCS)

XC) ( 2s 2 +

-
1o

XCs =
S.vs
2s2+l0
Vs Vo ltage across IFC

Vo Sidt
VoCs= Ics)|
S

Substitte O in
VCs =
VCS VCS Vocs) 0
sCI+2s + S+2s 2-+|
 ube ihu e O in
XCS)
2s2+10
VCS
X(S) S.
(2410)(s+2+1
Xc
VCs
2s+1o)(S+2s241)

a ebbd
F

TF XCE
ECS

Loiz +fci2-u).dt
ECS Ts)R + (Cs) - Ia(sD

cS
KsKCS)=
t (Ls *
) is)
-
kbs xS)
CS

-R+S
Ls
 S
ECS

-SXCss

LLe= (R*(-K»X CE)) + ( Ees))

CS

S=-kbs.xcs)R KbgxCS +ECS2

c CCs)

S =
-Kbs.R X(S) kbx(sO+
-

ECS
CcS)
 OBtain 4he troansfer funchon

EaCs

Block diagram fo the elechro mechanical

SysFem
qiven:
T= ET La T La

Voo de
Constant
ield

shaft
EA V
la

teto
N
N Y

M
ea
Cteady sate erro
eces
Es=E
Hheovem
ramsfonn
Rnal value of Laplace
= lE ECS
ess LE ectD

Rs E
CCCS
esDRCS

HS
ECS)R(S)
+Gcs)HCS)

ess = RGCS
s.E
HCS)

Loop transfer function is Gce).H(6

standard test siqnals -

se ramp Parabolie
. Find ece foY a uni+ step tnput
YCt)= uct2 =O t20 Otherw ise

ess
I+qCs)HCS

ess Lt
I+GesHCS)

e
S30
 ess
SO
PosiHonal
ess ns ant
+Ep Co

Kp Lt Gs). H (S
S0

2. es for aunit rannp funchon

nding
rCE) =t. uctD
t 0otheroise
RCS

ess LE
S-20

ess L
S90 Gcs). H CSDD
SC1+G

Css=
forranp qs).HCSD. s
P

ess vetocity constant

Kv

Ky L S. qs.HCsS

3. Finding ess -for a parabolie sianal

Yt = EucE
rCE
Res)=
SA+I
 S.ECS2= S
ess S30 I+qcsSH(sO

es> HCSD
Css
s +q

Cs so 4 c2qcs). HCS )

ess o+lt s2q6). HCs

Css
acceteraion conctan

Ka= S2.4sDHCS>|
S%

vansfer fanchon format

zer
qcs). HC)= KestzOCS +z3).-.(s +Zn)

poles
CS+PO CStPa).--s+PR)s
YeCND
for unt+ etep
ess
I+Ep

p GCs).HCs)
30
Kp Ris2,) CS*22) -.
--.S +Zn>
390
(S + Pr)
sN CS+PiOCS +Pa)

.
. .. (ot2r

0'CotPOCO+B --.(o+R

ess =
I Do
 N- ype o 3+ype number oDF Pole at he ongin f
GCcHCs) = kCSt21) Cs+ 2a) -. .
. cSten)
C+P1DCS+P2> . . .(st Pr

kp- o KCz1)Cz,. n)
Pi CPa - (Pan

Kp cOnstanb

Ess =

+kp Cconshant

Egs =
Flnite valne

Type
p
Ess = 0

Unit ramptype

ess
Kv

Ku S.qS> HCS
So

Kv S. K C0+212Co+2) - - -
.CotZn)
S20
SCo+PDco+P2) .--. (o+2n)
Kv 0

ess

ess= t
 N
ot Pi 2Cot+Pa) Co+ Pa
Ky finike
cs

N
SKO+z12 Co +22) .. - . --
(o+7n
Co+P1 Co+ P) . 0 +Pa)
Kv=

Parabolic type

a l
S0
OtRSCo+ Pz) - -.
(O+Pn )
kaO
ess

N L
Ka= LE
S0
Lo+P CO+ Pa) CO+Pn)

N-2
Sas L 2. E(o+zicO+Z»2 -. - . .. C0+Zn)

co +P12C0 +P>2.
S --. Co+Pr)
a= eOnstant
ess
K
Kefer to the unity feedback conbol system. ind th e
Sttady state eYror for an input elefined by a Polynonwa
pA=4+ PPArakoie
CE a +4t+ 6t E70 A Magnitmde
sep witm A=z

s-50 cLs)
StSt5

Ess = Lt sCRCCD
I+GCsDHCSS

YCED= a. step+ 4 Ramp + A Paraotic

RIS
+4
Rls

Hcs-1
GSS. HCsS =_ S0
S0 sCS+S S
sCsts)

ess LE +

(st5)

ess fov step=E

1+kp
ess f ramP
es fo paraboala =
ka
 4) HCs)= D_
Kp sO sCS+5 S-0
Ep=
s qisO HCS) =
Kv 10
SS+5
0
La S20 ECSt50)

ess 1+kp

For sys tem shoun

the datymine the hpe no, tror toeffi den
Ssttady state erYoT for he follous ing inputs

Orce= RCSS
=
rCE) St
H
7CtS =
10 t 5t +6e2
0
+4CS+1o)
RS

25 -
ces

5 x _G -*

25x s+4E+ 10)

1+2x 10S
t4Cst1o
25X
St4Ys+1oD+200S
250

S2+4s tt0s t 40 + 200S

SD
Sa + 24S +40
ess
I+kp

ess =

s2+214S +q D

ess 10

t25P_ 7.25

kp 6.25s 252 6:25

+224s t20
Kv
S+24s t40

a= E 256
S4D
$2+24s t4d

ess =
1+6 25 1.2s
Type 0 systcm

hor asystmqcs HCSD=K Rnd +Hhe

Ss+2-)cs+
value of k to limithe sttady stateerrorto lD
he n the ilp to Hne systm is YCE = 1+1DEt
40E
92 dendtes a ype2 syetem in he denonminatov

ess ID
+ep Ka

p = E q). HS

Ka
 +
ess + K/6
ess lb = 240

k= d4

GLS).HCS) 24
s2(s+2)Cs+4

7CE)= 6&

ess

Css
Kv

ess = O

ess = LE

+ 24
s2S+2) Ce+4
6s
s2cs+20s +4)+24
S2CS+2 CS +4)

6-Cs+2) CSt42
s>s+2)CStu +24S

ess On
 ulrum

mJT
L
.
transmitted fore by fiCED
LettE) be the

Mechoanical eqnivalent

3
B

F-v Analogy
LI
M

Mathods to investigare
8tabiiy
.Algebraic methdd Routh Hurwit memod
. Semigraphical methoo

if a bounded ilP aives a bounded olp etable

haracteietio eqnation 1tGs).HS =
O
 Routh's CRH criteria Cinvestig ation of sabiuhy )

FCS 6s+ It6 ckh aracteishc equaion tor

a
iven system.

Step Create Rouths aray

since P«+
ne is cu be
Consider all
6xII 9=10 6Xo-xO=0) odd powers
s' -6
sO 10X 6 - 6X0 6 10Xo- 6XO O

os from
6 E

o O rows to be
6 calcalated

Step Chectfo» tne sign of the 1sr column

the frst column has thhe sanme sign, then the system

CCstablle
Potes are on 4he LHs of the s plane C3 pelesS

-
LHS RHS

C+O-O e-
3+1
Ontu e LHS

Cpe.ated. ro o bs - unstable sys tem Ceven if iE is on the LHSS)

Cmaginay axis)
t E Lies on he Y dxts tnen it cs said o be maralnaly
Stable
ePEATED RdoTS ARE UNSTABLE ON ANY SIDE OF

APLANE.
 s -
For a c.G gven as 4s +s + 6 -0. veshiga te
e
using aRH eri tería and
tabiuy systen ol emine
of the

+he plALement of polec.

all coeffici ente are of Hna same siqu, Yt em is staL

ble

S3

s2
X O

S
4-6 25 O

2.5 X6- 0-6 O

2.5

S3
6
ince 4n ere is oachange
insiqn of colum
S
2.5 0
astan changeD
O
6
2. o +

- 'Asian Onstable
changes, terefore
poles are on the RHS

=
(3) Fs) 3s4 + 4s +3s +5 +s
Find tne location of tne number of poles yina on ne RHS

LHS

. Lont Array:
neqaHve siqn ia firs Colum

uutale
3
4 Poles
S2 5
dou RHS, & ovn LHS
s
5
case 0ue °t tae elements
ents iu
in the frst column becowes o
becownes O allhe
Oe
Case elenmens of the rad
beconmes
CAse
nv estgate the stabiuly ef ss 5 +s1
+ 2ee + 2 + 9s ts
c-E ItGCs2.HCS

2
2 0 epAy O withe
s CeD -
2

-C5E+ 48t4 2e +2
0
-*e
so
484-sE

SS

Sf 2 5 O
s3 S peless
-
2
2poles on eH S
S on RHS
tm is unsab
5

LH
RHS

-
 s6 +2s5 * ** +S+S + 2s + 1

FCs> =

2 2

oCE)

S3

S
-EC28-22
e 28-E
S0 2e-4et 2g-2Et2 -E C2
ECE-IDX E CED

S6

SS 2

28 - 2- 26 t28
-E
-
2e+46-
eu-E
change in stqn hence all pole
Ao
2E-4E t2
lie ov he LHS
Ece-D

' etale system

-EC )-
(1-E)

-EC2E-2 2e
E1-E

-228+ 2e 2E -

26+ 28-2E
El1-E)

2e22Et 2
 Fs s + 4S4 +8s 8

S5
-
case
S

S
A
Since an elemrntt of
4e row is o
a lHeastt one nonzew
element mushe
in he ao

s2+1
= 0
8s+O s j

S5 8

SS

Aarginaly 8talle
S O
ytem
So

O tora systenmn with uniy feedback, tne openloep

GCs) HCC) = _
tansferfunc hion Detemmine
5C+Dcs +2)
*he ronge of K for the stabili y using RH ei kevia

Cheq +4 Cs) HC<

ifs be tomes
O +
Ocke 6
5 Cs+2(S+ 2) + k

0 s ( + 2s + g +22
Ss + 15s + (l0 +K)
 S2 10+k

S S

10+K

10 +K 70 for stability
0 not pociible Cas itnas to be tve)

-. KzO

+Cs = g + 2s5 + st + 12s + 16s + 16 + 20s* O

Lnvestigate the stabi lity of +he sys km, if the
System i
morginally sra ble findl +he {regne nay
ellation

20 6
SS 2 6 O
S4
2 12 16
S
S
S

2s4 + 12s + 16
2a + 12 + 16= O R-f, -
&s t >6s* + 32s SA= +-2
taj
494
naly
8table
 S
frqucntt
Cannot negahvve
be

fore it is 2 and
w
-st s +
8s+ 8s* + 7s +

sS
8

6 6

S 4
s O

Inarai nally
Stable

0 FCs =
SS+2s t + 2 +ts + g t2-o
inveshgate the stabiliy. ind

2
+
2t+ 4s5 2s2O
2 34+ 2sa+ sa-o
S3 0 0
S2
r+12+1(2tiD=o
sI

rpeihve rvo
deno he anstable
Syst
fare found onhe .
the nariu no siqr changae
e re
Yemaiujna! is on LHSas th ig
1eno sian Chana
The open loop transfev fancho of a syakem is a
b kCS+ Dekrmine K, a so hHhat

s 3+a+2s*|
Ae systenn oseila tes at a freaue ncy of 2rads
S-
. e, HCS1

+qCSS- H ls)

0 + Kte+1
S+as t 2s +I
O
S t as 2+ 2s t + KCs +ID

s + ae +2tk): + k*
2+k

K+I
atka - k -|
AED
alatk-(K+12 o

Jo the systn to oscilate

a Catk) -
(k+9 = 0

a tk) = k4+|

A-E ag2 +(+1 0 as2- -Ck+D

-CLD a
das

S-+jC+E
a-a4
4a +k
K = 4a -1
 ta -
a+a I

4a+

4 2t

4 2+K a
ke-s
a A unit feed
pnlo
back syetm
op)
has q(s=
sCe2 +ss +9)
determ ine K f the abilihy ef the sycem

OKsunne los frequency operationn

e C-<
+ Kcl-s)

Ls+ ss+ a)

Cs2+Ss+a) +ECl-s)

-
+5s2 + qs +k Ls = 0

A s+5s +(1-e)s + k-o

45 Sk -k
K
15-6k
So
-
Tr a 3table syetcm all elem en K must be
rve
af +ne irt columuw
 K 70 -6k 20

70
may 45

6K 45

oen 6k = 4s
elements of the vo are O, ther efore cE is

arnally sable
Time domain speeification of a dystem
+ a2
andsysorder
ten
2wus
oitn unit step ip

= natura I
freqnency of dampin a
damping raio

no+ poesible)
undanm ped system Cpracheoally
und erdamped syetern
CriHcally danmped
over damped

cteyishe eqnaion of aand ord er syshem

Chara wn =O
sa+2Gwnst
CCS) =

C
RCS
2+tn
 R
sa+2fns t wn
9 ader damped syetem
f
final value
AAS u+it
ug+ be l
migt be. areoter
O lesser

Mppeak oveshoo+

L delay me s nme taEen by tne ofp td become S01. of

final value

p peak. hme tme at idnich the peak occurs inthe

o ise ianes tme aken for ttae olp to reach from l07 tod

0l of tne fiuna value

ts setttiing ime ime taien for tne olp to seHle witnin

aPAricular tolerance bandC2°l. toS °/.2

1.0 of Of Peak oversnoo+ ol. mp- e T X 100

a. Peak time tp= T

wa
w
wd *
3 r T-
tan -I V- 8

etEng tinme ES F-L

(21 toleva nce )
Sn
t 5°| tolerance)D
&wn
we onCtont T
wn
A uniy feed back conhol sygteun haS an open

loTp ansfev function q¢s)-l6

sLs+
rl mp, tp ts foy a sep i|P ef launits

CCS
CS
GCs SCS+2D
ItGCSDHC
sis+2)

CCC
Ris S2+2+1o

-lo
st2s +{b 3+2 wns + wn

wn= 1d

w D = 3.67ad|s

Gwa = a

D.316

tan- -G2 tauA-

-o14)
0.316

-1-244 rad

uwd=wnvi -
g

od Brad|s

T-1244
wd 3

tr= 0.63s
tp

p 0 17s
 guwn

D.316x3 16

X
12 e -4
oMP= TT 0-316
V-316)2
12-e

mPE 6.12 /. Xi2

100
mP = 4.21 Cpeak overshoot

a) Consi der a second ordersystem

0-7s
wn= l2 rad|s
ilP
Deternnine olo mp tr tp ts (2/-2S7) fora unit Step
closed loop trancfer funchon of
tne sysem, debemine
Fora ive n the values
for he unit step ilp. Atso esimate
theofp 7esponce raio
requeni es of dlamping * he damping
f naharal
vct)=|
n-? -?
CCE 12
RLS) S2+ 7S +12

wn - i2 radjs
2 wn 7
=I.0I
2 12

RCS 12
S2+1s+12

SCS2+ 7sti2
12
cCE L" SCe + ts +12
 (2-
SCS+4CS +8)

12
SCS+4)CSH)
S S+3

2- ACS+4DCSta)+BstS+4) +e(st3)s

A=I 8 4 C 3

L S+3

4
4et+3Be
Relaive stabiliy

tAsytem uwita FCSD= $3 + + ass+ 89 = o

heck if a tue roots 'are ou the LHS

Check ifan ~oot have real ports more -ve han91

S a5
ame &ta
&able
roots oare on LAS
So 3

z + s-1
replace 8 by z- 3-

Fz-D = 2-1)3+7(2-13+ 2s(z-1D+81=o

-2-1Cz-1)+ 4(z2-22+1) + 252- 2s +29=o
(z-1) -2z+D +az- l4z + 17 + 292 -26 +39 =O

z3-22+2-za+ 2 -1+12 -142 +1+25z-25 t3A=0

z3+42 +14z +20 =

0
 4 20
&am
Btable
k on LHS g
of -

Jpterwnine *he
tauge of k Such that FCSD= 3+ 104 21s +Re
k 0 Sch Hnat t has roots more -ve tau s= -l foy tne
rareun to loe stalble
21+K
able

SD

2 3+
S= z-I

fL)= E- + 1OCz-13 + 21Cz-1 + KLz-1) + 13 k.=o

PC2 g-2a+E-2 +10-A02+ ID

t 2i-21 +

FC2) = 22 +1 + (4 +)z + 1ak 2 =0

4 +K
2Ck-D
all elementkbeconneO
2Ck-I)

t oroler
Sye-em
CCs2 I+ST
me comstant=
nse ine 22

ts settng tnmef

find unit 9tep responce of skm

ccsD=4. Res
S+4
ccs t
CC-= d-Cccs3

cCe
St4

cceD I
e nent-
s - Js I-e 631.

T 0.2SS

ty

Bi

B
T7xf
Te o +B1o t fu
 feedback $yskn has an pen loop T.F Gs) =
/b
Auniy sist2)

find
rise Hme
pest bme
1. ovesthco
scbtia tme
or a step lnput 4 8units

CLS)= SCS+2)
RCS s+26+10
T+1O-
scSt2)

+10 S**29udns + dn2

S+2s

n = lo
n-io 3.16

Euon

O = tan-i(V1-2
tp

mP
w
e
- x00

12

u s1
T
 Stability analysis

. Roo+ locus

Stable systcm
. 14cs). Hee)l= |

2.

.Pot oot locus for Gs HCs) =K andd imvatigate

SCSt2CS+4O
tne stabitiky of tne system
O tofind wark ne open looP poles2 zeos
Z zens = NIL
3
P- Poles
S
S-
S-4

for poles, k=0 fron R-L and oot

for zeos k=o iaht
if there are odA no.
ofcomponenk
mark tne' eL segments i+ needs to be
Mnarke
04-2 R-L
2to- 4 not+ R-LL
-46n uOards >
Part of veotloancs
) olekrmine the centoid

A finie poles- £ Anite zeoévalues

P 2

6- 3-
(02
0
 deterMine e angles of thne Ymptotke
linee draun at an angle
to he plane2
f osywptoes = P-z= 3-0 =Ea

C2t) 18D
0l2
P-

Pa, = 60 hD fanalec =
no-of aEymphote

PA2

x5= 300

PT
deteY mine e breakausay point ** -
oreak in poin+

+ SehjCS+4) O o dehermine ne validity +

Ks S pihve 2 veal
SCS+2CS +42 hen i+ is a
k= -
sCs+2)CS+4D validdroot

-SC s2+ 6s +8)

k = -(s +6s 2 + Bs) As

(s2+ 12s +8)D

8 O
3s24 2s+
4315
S= -3:15, -0-84,

K-C sa + 6e2-+8)
-(E3 15)+ 6 C3 is)+e) - +82.14
X

R- -3-I1
A&nce o.84
0-84 is on
is on te
he R.Lsea ment it is avald breat qaay
Point
 if R-L intereects imaginarY Axis auol whe re
Check
jo n l+qls). HCSS

SCS+2SCS+4)

0
JwCjt2Cju+4)

juCjut2Cjw +4 + O
+6s2+ 8s + k-o
jaD +Cjo)z + sCjs +k=o

-j 6w +8juo + k=0 + oj

eqatina the 'maginnany parrt

&id -ju 0
8fs- ju
(incase the Poles are
w 8
connplex , angle op
departrel ~rival
equahna real part needs to be found
k 6uw

K=6x8 =
48

KC48 &tablesyctem
K48
brea
marinaly stable follou
point asphotc

A4 >unstade aystcm

plot R. L wnere open loop TF, qCSHCSD=

SCs +1)
and fnd the stabilih
noo 2eros JIL
o of pdes =
P 2
S-O 3= -|

-0.5
-0
 asYwnp btea
ckrine
P-2
90

AOAy Point
reak

I+q8) H(S) =o KO
sC+ID
-

-2

maginary AXIS
6 ntersec Honof RiLon i

1+QS) HCS) =O

JCjw+1D

jul juo+)+ =O
j+jo + k=o

w+ ju tk=o =o +0j

-w
wa-K
Mot the root+ Locuebr an open loop TF=CS*2)
SCS+
and inv estigate sys+em
tne stabiliy of tae
zeyspoles
Oz
P
P-o P -i

-2
K=co Ko
R-L seqme
-
0to -

determina the centoid

eerwmine the angla of acympotes

P-Z-

P-2

dettmine the -6

break auay point

1+GC HCS) = 0

sCs+DS

SCs+1 + kc +2) = O

(st2)= sts+1)
 Slet1)
St2

(S+22sH)- (s2 +s)

s+2) rale

(S+C2S +1) -
s2+s
(S+2)2

2+3s +2- s+s = O

2+4S +2 O

.58, S= -3.41

Check the vali&ry bothlie on+ne roet locus

therefor e tney are valid

at K= - 0.583
O 64 tve eherefore it is valid
atk 3 41
ve, thevefore itis valid
k

break n poin
inco ddeparture ic
Ato tne real

2 0

break reak ay
a point point
n the depowtu re is away
rom the veal axis
 R,L Sement
1 3 R. L
0 to

etevnive me centroid

(- 0 - 0:33

ange ASY mp otes

P-2
S
60°

ASa
300°
8D

AS
C de ternaiune the break aua y
PoinF

+GCS). HS=0
SO,
S2(s+2

s)+L=o
S2Cs + D= -k
-(s3+ S2)
k-Cs *cs+1>
-3s2+2s)
-( 6s +2-) O -

6s 2

-o33
s+2o
2g= Bs2
Ces on the L
hence itis
valid
6) breaL auway poiat

S2Cs+D

qCs)HCs = K
s ss3+ 8s2+ 6s

( q).HCS)=
Sts +4CS2+ 4s+20)

epl: 2 0

P 4 P-0, Pa -4, B -3t4j, P4 -2-i

. R.L = -2 bo 0
4 to-2 X

3 qa= 45
2

A2 135

PA 225
A4 315

5
Centoi

A 2**2--4 -1
4
 1
As

2.45 ho.f branches

of R.L
Por z
. whieh over
'Sareater

. Breat away Point

(S+2Cs2+ 4S + 10) = 0

s-2 -2 +2.45
Sa-2-i24s
- -tve
ks real
100
e-2+j2.45
ks -2-j2.45- oo

deparhure ccalmla ted ouly aneunthere

F:augle of a conmplex pole)

9A 18 - (£¢ poles 4 zeo:)

-

- zeros - £¢ poles)
A 1o (9
eosof *tne 2
system iven & join al
Art al Hhe poles a nd nee ds
pole ohose angle of depature
complex
of thenm to the
to be calaulatcd
-2+4i
8o-tan
D-0
SPO
tan2
4Pa
-
Pa
-3-4j
So
tan-l
- ban-4 -lgo tan-'22
1-
-

nqle bfo any a

blo conm plex
pole O2= tan£ tan-l 2-630
OMplex polec is 9o is
Covnjuga
 so-(u+ 63 +40 = 40*

Gsy HG)=_
s4+Ss3+8s2+ 6S
SO S--3,s= - 1+j/ S -I-J

25
5 A- 225
A2 135
A4 31s

4 +1ss2 +16s +6 0b
SI 23
S, S2 -0:7 t 0 34j
0d-71
8 qs) HCSD
kS +6
SLC+1Cs+22

S-6
P= 3
SO S- -ly S=-2 3-c6) =
1s
o of A-2

+K Cs +6)
SCS+12CS +2
L -
+ 2s +2+2s)
S+6

( s+ 3s 2 +2s)
S+6

(st6O 3s 6s +2-(s S+s+2¢MD

-o
S1= 8 45 Sa=-1.66 ,sa 44

-45 = -
165 X

-
-I.Co = 0-08 X

Ks-044 = O64 V

kCs3+3s+2s) 0
S+6

-2+2=0

GC6)-HCs .betkYmine tae gaimof the

LS+C +2s +2) DAves Haa te the
-0 S.
m witt a dampiug ratio
important fetnres
of tthe cyetem. marte
all
ity
the voot locus. G0-5
A 45
PAz 13s
P O>, -1+J

3-a)_

A 1-5
Cos-& make 60° w TE-Ve rea) axis
O
coc-'co s

K Product of length of vectors to St due to Poles

Product of tengt of vector tos ue h zens

abcel
 plot Aen domain)
.1a4
ol
stabil
raphica tools for
polar plot Pol ar

Nyquist plot
Bode Plot
HCs) = Polar plot ?
4s)
jw + |

GH Cio) l= ArjB tan-'

Va +
-tan-B
jo A-iB
GH Ci
+j - A+jB = 130 -tan"BA

tan- CoS
tan-'Cw)
Ean-ICwS
tan-l
at w=O
|4H Cj»2 l=

GHLjw) = - tan-(o) =0

at w=0, M LO= Io
at w-

GHCjwD= - tan-(0

he plot
nd more cucL poinkfor
 2t0

-90°

Gs). HCe)-
(S+1 (s
Vw 1
+2

R)+DC Jw +2)
4H cjo
Vwa+ wa+q4

Ljt. Ljuti

tan'(o)
tanC)+ tan-(i)
tan-) -
tan"()
atw=o
1270

GHCJud-

at w- 0

0
10

cHCj) -q0°-p-8D
 -2t0

-40°

Gs)-HCS)
=
(St1CS +2)

-2o

GCc)-HCS ) =
CS+1DCs+23 CC+a)

180

-q0°

Second order sys kew

w2 u-t

sCs+1)
Sj I-10
k
ju C ja +1)
 IGCj)HCjo)| =
Vgio vjw)*+1>

GRLL= Lo
tan-() + tan'co

- 4o- tan-IO

w0 ML= o 0

-20

O A ueaatve feedback syetem

ic charactarised
by an
open loop TF G&)-HCSD
SCS+1DS+)
. Draw ae polar
lot Invsiate tme stability -
- ton-'o)

. pe (Phase cross ove

Caain t7oSs over
3- qm
aain marin)
4. Pm ace margi)
jwC+1DCj +) a+jH=at

M 1GH Cjs)l =
 GHCi)L
tan-lCo)t tan-1(w)
t ban-\(2w)
-a0 ban-lo-Ean-2w

w bo M GL O
-20
210

-\80° 00

wO -q0°

at Io° Hhe cuve

0 40-an-lw -tan-l 20
ILterteets
axicat
tne

pe
-1s0 -10- tan-l a tan 2t0pe

40 tan-wpe + tan- 2w
A0= -
tan- Wpe +20 pe ) fomaula
-240pe

tan(ao )= 3pe
-Ruape

upe
-wpe O
wpe
Ope radian
gc ic Crequency at wnich |GHCjus) |=I

GHCj

ae 0.81 radsec

pe vwet Juop
P

GHCjw
lo-ope
CM 0 loq a = -2.5dB
ain margi n or phase margin is
negaive, the syekewm is
usable

(Pace margtn =180+ LGHCjio)

GHCLw
0- tan- wa tani 2wg

10-tan-1 Co.e1 -
ban-i( 2x0s
phase wmarttn
13
Systew is
unetable
for a
Peedfeed back <yetem Gee):HLS=_
S(S+1Dls + 4)

obta
ain upe wjc 1 Pace marqin an
ConAnnent of the skabiliy of the syskm

Jw) Cjw+19C jw-+43

M GHljwd|
wwa+I w+4
Cjus)
-H
tan-c )+ tan-l us) t tan-
-a0 tan() -

tau-l
w 0 M 4 6 a0
w0, ML

4 a0 ban-lao- ta-'
En -I w -
ta
tan- w + Ean-'u

tan - wpe+
pe
Wpe + p

-Lp

wpe2
 GHCjw
w Vw2+1 vw2+42

za+1Ca+4)

1.28, -3.41, 0:14

gc= 1.385 mol/s

phase margin = 88-92

ai margin =6-0

For a given epen loop TF Ges) H (s) = 6

s +3s+2S +2)
oPEaiw pe qc PM, qm and comwent on the
Stabitihy of the syttem

6
(S+1+1j)CS+I-Ij) Cs+2)
GHCjw) = 6

M GHCjw)
.
I+ Cw+ID2 I+ Cw-12 t4
GHCjw 6

tan-'luw+1D+ tan-(uo -1) + an()

-tan-1(w+) -
tan-(w-D - ban-(D
 M4
w0 H L =F

-2400
upc V6 rads
uWge 25 radjs
4 M= l0 45 B
161
P.M

q.M= 0 Log 3)
=0.45

tan-t Cw +13 -
tan-lw -1)- tan-(A)
P.M
80 - l12 1670
P.m

Gs)HCS SCs+I92
3.613X
jw Cjw +102 12.83

64Us) HCS)= S2C1+5)CI+2s

 Nyquist Criteria

noof eneirelementh abon t the Poinb

-fjo
2 P+N
Lno-of poles N=t clockuoisa

Zeos
N-I antielockusise
N=0,nen it doesnt go around
-1+jd
z- 0 on the RHS
y stable sys+an P=-N S= t Ra
SectonC RA0O

poles
Stas+ y Simple Secko
Secion

S--j
raw a Nyquist
open
Ploot for an loop TF ne re
qls) Hs): K
S+1 Ls+ 2

plot the s plane uwitn polec marked

On it

2.
find the no of poles present on -6

4he RHS f splane

P 0
3. to find the image of Nyqnist plot

Section f: tofind imaae at ab =a'b' au & &a aee

4Us). H(s) = miror imaa
jw

Gw+DLjw +23

w+ w+4
Latlli - tanw) -
Ean-1 (
 ML4 = 05k LO
w90

image of bcd bl i- 18D

ccion fnd
Section

S lt RedJo
for bed '9'is mov ing
from+90 to-90
(ReP+WRe i6+2
+qo-20 -A0°

Ika can be negleetrd

R e i20 as R 60

LQ= 90> o-40°

K L20 =
-180o 180°

as magn ituole
M-0 is0

Lo-2 b'vd'is representeo Tan

On the ongi

SechonT S-jo
e2
Cs20+Cna

Stnce abk da are mirror images

r0 the qraph fnd tme enirclemen

N0

Z P+N
2 0+0
he systew is gtable

. open loop T:F GlS) H(SD S+2

tCs-ID
4plottne
poles
2 P
 Sechon f

S j

GHCj)= Cju +2
Cj +12 (jw-1)

GH Cjw
w2+4
wa+ Cjw-1) 18 -a

CHi) = taun-1 (2)- tan-leú) + ta()- 1s0

0 M = 218D
M L o a0

Nyquis+ conto
for T.F having pole ot s=o

S-juo
Re
re

q00

Oiuveshgaie the stabi lity of the sytem using Nyquist erikevi

conere ne open looP TF GtS) H (s) =
5
Sls+
marl poles on RuS

P-0
 forw the image
Section
S=J
GHCjw
Ju Cjw + D
M= GHCiwD| =-S3
wwa+
5 - tau| - Ean-'o

tau + tan-lo tan-wD

-tan-lo-
D tan lo
CHL =-40-tau-lw

o M4 = 40°

w o M O8

Sechion L

S=R-00Rejo

R00

4HCRejo) S
Rae
Rabo

M- 0 L-9 = b'e'od

Lo= +
40
8D
d '
Section
S=-i
ab& dle are wioY maget
d'e will be the mirov inmage f alb

Sechiou

e Pa
-100 tq0°
O
S= trei¢

a'
GH (rej= 5
o re°i®+ 1)

r2o Tej¢

e
N=0, no endv clounentc
Z= P +N Z=o idicates, HhatHhere ore nd
z -0
Poles f eloced loop syskem
'it is stable ou the RHS

(3) Gs. HC =
SCS+1DSta)
 Sae pace Analya

tate space C.S Convenional C.S

onsiderc iniial condi ions amalysis uoithou tE iniial

L

Conditions

ore ACCu rate ress alt 2. les acurate resnlts

2

3 applicable for loot LTI& S. Ouly for LTI SYskems

non-liaear Systeun

ul4ipe ilp muliple ofP

. inle i]p single elP
analysis 5. belious
SnSes marix for
6iwnlations Can be done 6 ot_possible.

8tate equakions
Stale space modlat P equation

. RLC nehoor
ate space
2. MEB syckem model

ifferential eq. staespace model

State epace moolel
T.F .F 5

ate spaee mde

ate eqnahon
XCED= A.XCED + 8 UCE)
cOn bol mahi*
stae LX = [AJLxJ + CeTC i|p matix
stae variable
alae gpae watix
aix

ntpnt eqnahon

ofp mariX

ansmitta nce
abix
O Wrilk the state ean for tne ciyauit by EaEing ashe
CuTYet.#Lo write the olp ean for the uTYenE

M ADof energy torage

elements -2 CLCS
VLE) c tVe CM

Ance nere are energy torage elenments

Since L= d
a- Ve nce e= C.dy
dE

Vt R + +Vec

VCE) -
tRR -VeE

-Vclt

ee- -*

iCE
+ Ralo)

Pron R C

VCE
wwrite te tae modet for e rehoork. WMtehe b]p
e by ta tng9 2 as op eurent

energy
K koraaa
T elements
tate Variables

Vect=
Ca

=is -2
is CdVe + (2

Ve 2R + 2
dE
= 72R+ Lz2

Tslt)

C
 using diferential
equatio
TState space model
.
g3Y) + 6s2ycs) + llsy Cs) + 6 Y<S)= 6UCs)

CS s + 62 +IIS +6 6 uS)

YCS
UCs)
ee+6s 2+lls +6
3 tate varnalbles and the no-of inteqrators
inhe Fg

+
6(s

-inindual
2nontuening
Cnumeratn)S
-Oo pat
3intrator
s
6 3individual
loops

xora- 6
4
SAF
var iableg
La

Zat pont
o-Us +6r3 -llz- 6)
X Ax + BU
 Ycs-Xs)6

Y C6 o

sygtem o lp
obtaiu the czke space wmodel for he chose

en +6y + y+lo-l0u
loyts) -10u CS)
s ys+ 6SYCs ssy) +

YCss>t6s2 + ss +1 (bo(s)

YCS

uS s+6s tSS+1o

1oS3

1o/s3

-yes)

x
 S-10

Y- C oo
1oCs +4
Rs) SCs+1DE+3)

l0s+40
S(s*+ 45 + 3) s+4+3s

I++

- )

C3)

[
-4
 6ls+1
st (S+3)

nie plots )
pka ot
Bale plot Clag
maguihude plet
GH&)- 1GH jw) I-a jd

20log lGnCJw)
Larritmi gin
. constant aain
pesof
2 pelesavOS atoiain TF
S. poles on the r eal axis Cve)
4. Compex poles

always o when T:F has &

Cs= 0

Yes

wo+w

Coeffia'ent eP ow -20
a Slope o

Pale at origiu cotriu tes 20 dej lecade

Zem at orii
1s= S

Conibutes 20dB ecnde

Lo
 oable pole

Iy CjDI= -40 log cuo

Cju| = Coutibutes -40 dB decade

Lo=-t80

+T imple pole

+jOT
YCjwD
= -
YCJsl= a0 logCttjoTO|
TCeI 20 Log CD 0dB

(1) Luvesfigat tne staLitity f -ve edoace system anose

e loop T.F GHCSD= So
SCo Ss+12(ooSs+1)
-ju
SHCjo-5)
Jul-+o5jwo(!+sju)
C nall er)

YCjo) 0 Ad2adelecae
IYCjuw- soda/decade

I
atw=o 1

CJuo = 2otna sD- 20L 0.1

ec
54E
 crossevevfequencies.
6)nd
Wear L 20 ra/s
0-0S
we 2rad
mpe pela
ives-2odB
facto Coy ner lope
maguitude = 54AB
oAB lecade
2 -20leAecade
(20d B|J
+previcus lope
-40dBlecade
0.SJus +I
20 -2aBJecade +
-4ode decade =
0.0sj+| eod

phase ploE
-a0- tan-lCos0D- au -1(o osw)
2 -4D
3 arequen
> take
-22 -8. w
in tis case
6.2 ¢z-iED.

q HCS loo Co-IS +1

SCt+sLo-o1s+D
Cjwo = o log 1o0-&ologlw 1 C»=s1D

WCI
. = j
-20B,
Aoude pole-40-410 -18
CUe loo
-40-20dB = -60ole
3 6o +20 dB= -4-0B
-40 20 6olB
Meckanical &ystems
FC)

M
elemens
M, 2k

Node
FCE= Mid
C + B1 d)
FCeS= M *3 t (x2) t Bi(X -4)
Nde
0
tka )Bd
+2 + o
OAC

M 4 t ka(a-X1+ Ba(X2-4) +E2X2

+Ba4

MiL7 FCE)-ki (x1-7) 4 Bi(22-X4)

pow F M - (x-) + Ex»t4

M
 Traufv funekion

7-F
S+5s2+4S +10

tbs
+5+

- )

10

72
L

od=U[S) +(-57-422-10x i)

5-4 -10
 Bode plot

oe
30l
(S+a)Ctb
sta)_
(S+a)LStb)

Type2: E(gta)_ 900ko- 20toqo

sls+ Stc)
KsCS ta)
+6Cs+c)
Type L(Sta 0 Log tk)
CS tb)CS+c) -
40 tol)

s-Cs+CS+¢)

Iypa 4:
g2+ 24 n ton) Csta) quadratic zero
adra tc pola2
S2+ 2s + 64

pole -20dB per decade

o double pole = -40 dB per decade
ontant= OdB|
Zero = +20 elB per decade
double zero= t+40dB per decade
quadra tic pole =-4odB per decade
pole at zero = 20 dBper dlecade
2ero at tero +20 dB per decade

JCI is awayc smaler.

w
tways stat with LOllin the graph unless

iauound 0 0Sradls to o.I radls

starts wlth|o-01 w
 be
corn er frequenuy, T:FmusE
et the

+ST) form at

SLes
I. Check if t Cs in 1+ ST forma &
2. Check for the ype
3. -jw
. GHCjw)|= 20tog ct) ( . - .)

S Cor ner freg uences

coeffiuen ts of
Jw
G
Smauest
cdB
Con stant is O

6 tale

8 Phase tale
Pind GM q wp, Pm
ve, wnstale syskem
lo if is
 q-HCS) S0
stoSs +1{0°05s+|)
J.S ju
S0 +1)Co OSjw +ID
jwlo sjw
YCjo
= Coa sb) -
3o teala)b
9.20 co lYCjus)| ton0-1) = S4dB
20 log CSD) - A6

2radls

_ 20rao
O'OS

4 Table:
magnitude e
fackors CoY ne7
frequ ency Lope
54 l dB/decadla
50 -20
tu wC
we= arad/s 2 dolB-20dB
2. 05j+1) -40d8/lec
wc2 -2Oradk -40dB-20dB
3(0-05ju+1) 60d Aee
-

PMo)- 0 - tan-I (o sw) -tan-(o.oS)

TI80 6-32
C
-
187-8
-
la1
-
IS4.8 -
145 25s
-
16
-
12-8
6 - 1*8
-183.9 20 214.3
 GHS)=
S(s+I)2 (o-Ols t1)

oo (0-1jw +1)
jwC jw+2 *(o0j jt1D

.Cjuw) =00 Iycjad|=

0 YCjo) I = 0Cog t loo) 30 Log lo 1) = 6cdB

l

a , =
lo radts
= l00 radls

slope k2
4 actor Corner frequency magnitude
. loo 2odeldec
J

= -
20-40
iw+) - - 60dB|dec

= - 60+20
3..1 juw+)
-
40dBd ec
uw3
4. (0.oljo+13 46-20
GOdB/dec
co -40- 3 tanl(») - tan-i(o-ow) + tan-l(ol)
 (S ta)
2002+lOs +1oo)
ss
t2)
300 ( jw
GHCj)
j
(jw2+0jw +t00)

40 tH)
juoxloo (J +0Ijo +19

4e(o5jo+1)
loejw(o-o1w2+0.IJjw +1)

C
4) -dotogco-1)= 33dB
a00
3 c L= Zrads
lOrad /S
ca c=
mag stope
fackor wG
20dBldec

Ode felec
.0sjw +l Ce mds
5(0 u+0 j uWC 10rad/s -40 B/ola
*1)

200 (ju T2)- 65j)

jo +5-8-66)) ( jw +5 t8

g)-9o - ban !(w- 9 6) - lan"(+8.6)+ ban)

5
 O
O OO
m m 1/m
f

E
ia
m

md + K1 +Eolq + ft)=0

2 + KI B a t ftE) =0

-PLE) BIz
M m

m m JL
GC). HCC) =
s(s++2S)

GH Cja

GH -
10 - ban-(a)
-tan-C2u3)

atwo oo-a0

270
T

-
-q0

IGHCja»|

Jwlua+ Vw24+}

wCw2+1DCw2 *£)= 1

2(7+Cit)=
a +)

- 0-66s
w= va w= O 8t raod|Is
 COPC

-180 -40 tan -I(aw ) - tan-'Caeo)

a0 =
ltan-cw + tan1 (Ao)
°) =
tan t4o

I-e2

rad
31ain mar3in
20 teIGH j)wpe
20 Coq

GHCjoDl

. phase magin
180F
an- (2xo-&1))
8D + -40
-
tan- (o.81-
 10 CS+4)
Sts+1)
*

w +1

-0 tan-' (w) - tan()

O 0o -40

1. c pC
- - tan-(w)
- 8D =
a0 -
tan()

w 2raolls

w2(w41DCw 2+ l6) |

Cx+1 Ct +|) = |

22+16x +zti6) a= ||
3+192 4l6L -l2o
0. OS?
 Nyqai s plot

sCs2 +2s +2) X

(s+!-t) (s+1tc).

a'b
Sjc

o.+1-j*J)j» +l+j)
Ye if
S
w I+ (co-)2 I+(+1)

aBja)=F 0- tan-las- -
tan ICo+1

180t
8

.b'a'e
S mR-oo ReJo A0+270°

A(S)=
lim
im Re Re+1-t)CPeJ + I -i)
R
3. efa'
im G(re jt)
Ci reJe(ve)°+ I
-c) (rejt +1 +c)

6 o -20

Z P+N
Z 0+ Nmust be0

-
=-10 tar lw-1) -
tan (a +1)

90 ban-'(_u
1-(-1)

(1-CoI)
-w2 +l D
Ja dads
2 nJGH(jo)|
qHCS)=
qHCS
S+3S+s)b
CS-3C-4)
. P-2
a 'b

k jo +3)Cjw +5)
Cjo-a) Cjo-a

L= -B60 kan + tan) + an-() + tan"()

-
0
O 1K-3s0e.
.

3. b'c'd
im GH (ReJo )= umR
R-00 KRe+(Re i° +s) q0
CReP-2)(Reia-4)

-1B0 B60 tan-(+ +tan- ( )

A0 S
20
1 1-
 sCs+12 CS t2)
P-O

ab- jo

HCJo) l=
CHjal1 -0- tan-lCeð) - tan-Ct4)

co= 0L-0

3. clo
Cim 4H (Re j®) =_
R- 0o
jox ReJe
Cm
R60
RexRe

FO 20-0- 270

ef ra
tm GH (vejo) =
Y O
es° X1X4 A0 .090
 SC-D
PI
qH Ck D|=
2. Cw
+
LGHCia) -0°+ eanCw)

3 b'etd
5

im KeJo (1- ReJs)

R Li0°+QZ
00 -20°

Cim
RD0
Reio -Re Jo )

AL2 L

R2 [2g10

0 LLD -20
 e'fa

T07eJó (I -reJP)

T
L

020-a0

3(S-D
P= 11

2.

ww+
-0 1&0 +tan-I()

70+ tan -ICa)

C O o t0

b'c'd 2X6
ReJo(le jo 1)

e'f'a
5
re je(reJ® -1) -
16 0 7 q0
oot10-p *10 -18t' -£r
 Root locus
q-H)= k
S(s2+ as + 2)

S I+j, -I-j

3
=0Koo
a no-of branches of R.L 3

no Of asymptbtes

P-2
P-2- 3

-
Centroicd 'A
O66

3000

5 br eakausay points
L+ GCs) HCS)

+ K
s(s +2s +2)
K-(s+ 2s+ 2s)
k = 3 244s +2= 0

O- 66 E O. 47140
B =

/S=-o46to-44F complexX

Comptex

no breakway points

2 8b°-4s° = 3S° dd 4s
8p° -22S
=
1 4s
Point of intrsechion af the real axts
+
s(s+2s +2)
S(s2+2s +2) +k= O

S-jw
-j w Sw*+jw
-
+ k=O

k-w 2+ j(2u -w) = O

s= w3
2 adis
K- x2= 0

- 66

GW=-2
 Gs) HS)= -slsa+6s +ID)

, - 8tt, -
3-c.
O 8

=
2n0 f branches a

3 no f asymPtotes - P-Z= 3

5 Pa ati)j8D 60
P-z
PA I80
Pc 3oo

6 breakauoay PoinE
-
I+qCs) HCs) = o
O
sis2t6s + 1o)

-(s>t 6s 2 +10s)
K
3s2 + 12s +10

S= -1.l8,-2.&

k S-0&
 Kro

Paint of ntrseckon

S346s A
+10s + k -Ob
I-tan"(3)
-jw >-6a + 0jw + k-o
d-41-S%
K-6) +j (loo -wa) o

w-to radls

k- 6xio = O

Open looop
ISer al
Inpu
acuahna oupu
oupuu toocder
commorden
Com m0rd heer plan
PICec)

e losed loop
ft henhn
Syc te
npue joene
rterer ce Rchuahngplar Outp
commard
e soral
detcr fcedaek
feodioc
Dlement
 ralt clo
, arhrpl
datne
eSinca
Jcsed hemelol Carraoe ow
ltmpebu

Open loop cloced lecp

puex disG
Com
.Smple du1gn exp ensIue
uxPnsie
not ctable
. tablee us)

ralCc
3 m oro acurele
ws aCu
L lp doeme elleet
r Mthue
5 Censiive
6 Carget B c
emau B-
no fecbal &hos feelba
8 noe6 ec a ron-
8. nDn un cartty eau
 LInear ycums obeay- louo o odd. bruty
Lauo o hom oeny

EYun ear: Ourrert th rouah resiS tor, VDT

non -in ca diode, m os FEr

Caw 0f addibiuty

lt

't) t) ar ea
Ps bf hom Cgrr

inear tme in vo narce

o OrittA oltnei char me

2 ample Tuas ance l
L71> utric cartuulR,LC
 cL)
ykcm Aalayg
Yt
Syetem

wm ped &DrsAbuhve
umpco- olepndentvorialblis0n Dnd
Compastable
funeim thmo ooL
eo asuallu
doppcnondane o fwnetO
oushaul
PDE)
tiyne and otmur eaualles hot Opoxat

Onhu ous duss ete

Eemp Uslumu alu mos, Sutchu

Same as
mechaunueal
m
L
R

ide

m Cd
d

L41de