Time response

Solve for y(t) if all initial conditions are zero

Taking inverse Laplace transform

 EX 2

Multiply and divide by

To find K3 differentiate the above equation w r to s

Pole movement

With constant real part

With constant imaginary part

With constant damping ratio

Time response with zeros
Effect of adding a zero to a 2 pole
system
 Derivative of original response and a scaled part of original response

If a is negative, it places zero on the right half of s-plane. The derivative term will be
Larger than the scaled term, the response goes in the opposite direction

Such a system is called nonminimum-phase system. I

If such a system is there in the motor bike, it will go to the right if steered to the left
Example
Substituting for I(s)

Substituting V1(s) and V2(s) to V0(s) and

simplifying
 If A>>, then

For a step input

Antenna position control system
Schematic diagram
Block diagram
Effect of amplifier saturation on load
angular velocity response
Simulink code
 Effect of dead zone in load
displacement response
Dead zone is present
when the motor
cannot respond to
small voltages