CONTROL SYSYSEM

LenbDl ALLeNicLes
OLCs BaAod o the
rt 1Ant, Atom haA
ACn&O A. nott

Negotut FbS Llnetobit ii-ve eodock

open Loob Gain nin, BW, Tine
fonatont (TC)4,
TYpe No. per, isitY, tobi
AnitRilu +ve ecbock
Transpetotizn dalau
To ebtaRn
IR (henct, TE) }em S
ditiallrhelad R:, t rhatk te Titial fona
TC +0
sR) IR
dt
SR) IR
aAcodind
Non-ituacti.(MA-Leodin
ntoariu (Loadino TF Medel=TF Medel=
OLTF = GH CLTF= -
+9H ,ETF T+GH
OLTE
CLTF E
bpth=I+1)
CLTE +T
OLTF = Onlerapplitabte
tuOhen HS) =
.
+-Ne FB
NeFB ve FB. (Don't appl
w hon HCS)
#1)
hck he T|P 4 oP Nodus iut, then pleeood. (SFa)
TVT o} L T. FVT o LT. 1E (SHstem
t0E) =
t
S F(s). Othesutluo oameto
45t)- sFs). applu Rant

R
Couu-eAlect
B . . Nolte. + M
V
c Vo
Fo 1t DAde Astem, T-RC
-T+TeTJut
RR

1-AdL Lattm3
(- t)5 PR T[t-T+TE]ut
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0 q5. tn23T
0. OT.". th: 2-3T ts31
5 -q5,'. t:2-25T ts: 4T 2
10° 0 ta- 2.2T ks 5T (L%

pRo.dl ta- 0.4T

ss.
Alugaishnts

EA 0-3+2:5L ta +0.1
On Pss-0
4TUn
(2T)
tp n
do. kgokm tabfltty
n 2k-1, Kmaj.
n2K , Kh min. |

MP Ae
Tpuled 2
No og yels= tablK
IR
A
RR

(31)A
ess T

SR S

1
2lees
PR
631-C)

5c

es
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Atandand 2 onduu kyutem

Ne Eh() 0
s+23wnS+06
tIR
2 du satem ReipovALA A

TR On wnt
Ain wat ut).
AAA
tts

-
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Ainat *d) ut)

Peable Ranqe 0.4s40.4. Ain d-?

wita= 0
Tex. Tunder

Undamp 0)
SR Miticatdampad(a=e1
SR

Tpeaie
(tunatablo)
S R (Nat PAaficad)
Undeudompodl (o uK1)
SuLdamped (1<g<o)
SR

( 1onde
AAA - guntnJ-

(uncttemallr 1*otdu)
( (Aluggh)
 ess elt) elt)= hlt) - ctt)
Atabiliar.
ess S.ES).
S Rcs) CLTERexponke
01t
1 t OLTF
OLTF

OLTE G (S) , H¢s) 1

O bype Ordu.
Gs)
OLTF L+GsHS)-1 HS)+1
1 Ode anu
Kp oLT)
Ky: s(OLTE) Ka S S(oLTF)
S0

ROpen Lcop ess AIs tepAlea S (Ramp A CFar)

Gain A
Kp Ky , Ka Tpe-
CT-0) (T-1) (T-2)
Tpe-1 A
Tupt-2 O AKa
THpe 3 O

elt) -
Co Att) +C,ktE) + Ca At)+ kC d Fs)s)
ees elt).
Fs T+GsHe)
R
ecs tSRs)
0 +4S)6,s)

SRs) G2(S)
Au to taanapsitotien dola +GS)GS)
ess hemains d0me while
Mp
KshenLoop qain.
ta t, kp, ks)t tonNK a
AHp changeA.
OL Gain rhongeA
>ToMp hanger.
CL Gain chanqes Mp chonges.
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Bede Plot. ime ConatantE)
(Renthet) om
hangettfpDution S 1 100
and ST
Ahonge o oppoito-Ve SK 1
pasamatn T: CLTF
1+tH

G OLTE
H: FBTF
(- F6)
(+e F

Le
stabOH CL oles. Right Aolh oh s-plone. Cene HultEpo)
Rfoht
lnstabil cL Þole in hadt o} s-plane
Hultiple pole at
odoinfo-nis
Maginallr stable+ cL pole (ono) at
osigin| jo-anis
Cpoiu)
RH t i a
hack 4oA AOme Aign&|
SC NC
ate Aocficonta in
SS=o. "

alLo 1 od) Fom R A

(Aubicent Rond 3Ado.
NC bc ad
c .

Kvalue F Compoe
c S-heuo. - 0
U.S

$2-ou0 = 0 unatobe- 1&Domento

N e (anur
Aangei in|
1s olumn
CNo.o Rin RHS)(e)e eloment)

i n hanges anu hDue O

Romplatolue
oloue AR, RA BRoaks- fAux.En"
eota sumnothie
h00t in RHS
Ainn ehanges No &qn ehange
boloue AR',
aboe AR,
Apmmetkic Aeoll RA-BAene mulMle
niummetli times (>1)
hesti iRHS. Hulttple heots.
 Roet LocuA A ZClead P)-
RLD CRLD -(0al)
-2) A A CP-z)
80 Lodd point
2
o, 120 dk0
ds
66, 130,300 K, n>fo-oi
O,120,240
44s,135,225,3IS
RLD
, 0, 1s5, 210" LR
CRLD RLD
m
q0, 24o O', 1g0
A [&6-4]
60,180, 300 o120, 240
CRLD

441s, 225, 21s| o, 0, 186, 270

K PLO P)p_
(PLOP) at any peînt)
addinX BA0 to OLTF
GtS HCs>\= 1. RL ausou jo-ari
(CRLD &RLD)
Gs Hs) t =
180 (RLD) adding ole to oLTE,
RL tousodu jw-0rni
GSJ HCS) . =
(CRLD)
LT
OLLAC
An Atem
Lwt +
(GS))
BAnuot +.1 d,+|Gcs
btt e ts) - e {o) ef0 M M 11.

Atad atAtt }hequant nasponse

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Tet 2 TusduTeves
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MPSZ Yaps
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ntyo (OR)
MPS. +a0x Ne.o
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CoLPin)

Onli ho M o 0 , tupe= 0.
M
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GM xticod
Gain
GM- (20 leoa
GHCjo)lopc db
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gc pc Aiticnly ttokle
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Mauginaly 1 E1, 0) de =-180

Atable
Lnatabl 1,) dB 180
M PM ton
NAS+| - 28
PM Leo Se , o° PM<Ro

NP. toole.
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NquiLt Plot
ALocR-WiLL N 4N. ACW
N - CW
nti- Ipek - u0i1,0.
N -y, ACW
N + Ne, CW
Sccade> 1O tRmes ctaNO 2 times.

MPS (OR 90«(P-E)

o s at qin
ALope . -20 dBlaseade ty -20 db (P-)
tecare
MPS
+20d 20d
d c o d =6dB
OdB

Alusnn Aolelate K5om Line|ewwe (Bede Plnt

M 20 h Leqo
O10 +20 Leg.k. TC hOMn)

M20 eqiK.

mple (naol) þole 20dlBdcade -6dBoctauve.K3h.

h Amble (heol) R0>|+20dB/ducnde a +6dB/ ackoue| g h
hx Lomplsn ho -AOdB|dueodL -12dB&cko Ne
>|+40dB] dacado o +12dB/ ectouex
Reol Eno| Pola-Ronllequaer=c /T
omplo EOePste LoANUL }iLAueeu= n

Popetienol Lentisttu * Wn k p n .

Gs) Kpl 2JKpon hage

Kp 1 0 ess (othLt o )
K p i e y b h k e t

P 8
Apaod,Atabiliu, ess
P . GO
o) Kp Thantent ReApoMAe.
ReApevAe
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L
Gts) .
ThS
Atabi0
ess
Resuotive Cothotdoa.
Wn n(Aontant)
(TanhomgtoA rovthollos)
2
ess esg+KD
Apeed.
1 Atobilitut. t
ess.
P+D ontiotl R
R
w*
kp[kps]-Kp [i+ Tos]
Thanlent RoAÞOMAQ Rhonostosutit

p) (Tp)
P+T RovtallL
Ra
GCS)= kp[+]= Kp[l+S
RI
Ps+k
Atad ATaL houponAe ahanastuiitiu.
M u t bedomnonl wt.t
-23um) R
(kp) (TA)
P+I+D LotelQer. Co
wwHS
ww
C
,
Ke [s12J (st2,]
PD SAC
A0nAant hespenLe rhakactoriLties. SeG
tRodr xtatt heupon&e ehanartoritioe (Kp TA) (T)
 me0main FXequonAY Aomaun
PD PhoAD Lenr
Phok La
PID PhoLLo-LenA
(StE)/S+

1 12 Lead
P
Pa
2
P <1 Lag-Leod (sF)
Lead-Lag. CPE)
Pa
Gc (Ts+1) >I Aominat Pele (LP F)
Lo
(aTs+1) Lecudo &<1 Aemlnant teo. HPE)

tan An o = 2k
2
MM 10 Log, db.
Leod Log

ApedV NAiLL
PM ktabi0it PM itahi0inY
GM 4 3 OAV,M» GM V> O x , Mt.

Lead-ag|Lag-Lead Aptect, btakiy 1,(Aemptlult fct)

-

(Lenl) (Logd
T RC T RaC
&= RtR2>|.
R+R
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- esiC +1
(A
SRoCIT
(T)
Lerd RC PCo
LatRC P2C
t.ded.onam.
(L,Ve>4l2 PhyicolVabinblo
Hathcd
[kULkCLj
Atoto Mode

D-11a{3- Phouo Naniobe)0

tatr
(CF OF) dinam
TF Lonot bo
e t Hrthsd
(s)Entionnlige)
(Cononiol dRteAenthssti Fballe DHAF)

(uufea) Hath, }
AhOloaeterixtie Ra"; qts) =0 1SI-Al=o.
TE C (S1-A)b]+D.
t)L' | (SI-AS] Lo), +L"[(sI-AJ 0ss
Lt) eAt, to)

o)-T t ) =¢-t) L9,A

Kalmon'a Ta
A .3
el+0 C
0 UC
C
CA ,1 0 0
CA2
, ouu dingonal iangulan Aonn:
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LO
et
t t
o
LO

o o

l --6 -
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y LI ]x t Lo]u
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o- (to)c
y L oJx + Coju
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Y L O x + [oj0.

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