Tutoial *4:

- Sensitivity L Error
d

G 180 S? ess O,os

s20s+ 8o 2.R Vs K=?
T 8o
( s +1)(s+20s+ 18°)+ Bok

3T 180L (o.ls +1)(3+20s+18o)+19ok- 180 (180k)

o S + ) ( S+20s +l86) +8oK

J (.Is + )(s+20s+180) (180)

(ols +I(s*+20s+18o)+13ok]

SK olsr1)(+20s +18o)(13o) o . + + 205 +180)+180i

C(o.ls+1D(S+20s +120) +18oK 18o
T

o.Js +) (s+20s18o)_
SK (ols +1)(s+20s + I80) + 13oh|

E.R-Y R-TR R(I-T).R( o.s+1)s,205 190)423oKK-18o

.
(os+ 1)s+20s+|3o)+180k
E . Ys lols)s+205+180)
(oIs +)(s'+20s8o)+13ok
 e sess
S-o (U(180) 4 18oK

O. o5
TK
- Per fomance o seconod order

9enera om wn
s+2onS 4w
Percent Oversks-t Po loo exe R]
Time to setle ts = (real part
Time to peaK tp Cimagin oy art)
wn-
O- Cos

Find permiss i ble cureca Uheni

Po <20o ts o . 6 tp

Po looeAYT4 20
- 9 T Ih (o.2o). -I.bo9
T 2, 59 ( - ) 2.59- 2.59
12. 46 e : 2.59 f > o.45s
62, 62, 94
ts o.6 o , ) w, > 6.667 (ree pacl)
tp wy-9 T maginar7part)

-6.6 -TT
Unity Feedback
Has he Pofm

For a unity Feedba ct systemPind rfr

.

ess sep and

ramp in puts
G 2o
s+ 14s +So
Sin ce an (s) Cannot be Fachred out from
the elenominator he type Number N:0.
ess
shenpu+
A
+Kp
A
Io.4
Kp GS) 2 o.4
5
ess
Tamp
input

Un unity Feecl bac

R

where G G
G(H-1)
Por the llouing system Find ess For
.

inputs
tStepste Cnol Camp
R where G 20
s14s +S6
 Transon the syskem t

+GH-1)
2/145+59
2o
s 1 t 5 o )+20s +2.

An (s*) cannot be achred out

Neo

ess A A
sePpu +Kp 285

Kp-G3. 2 20 =0.2 8s
So+20

ess OO

CaPnpu