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hasateishe eq = 13.5
’ Based eu w. a
G 13.5X5 0x16
l+ GH 13.5
eishc en)
+GH =0 ( charat

chatad eishe u:
lie Bu
ziqu clage,sytw is sBalle 2 all 2oote
keft lalf s plaw.
a
Lodd terms) And He Range k fo Ag le to be alelle
K
sle+1) 8+2)
Bslu: G
EsCs+) (&+2)

s6t1DC&t2)
3) 2

0-0 =.0
s+7+
4
-562À
-
-2A -5 -24-5
Ei staleto
be
A A 28
Y5 3-5
2
2
28+ K
35
+
5=
0

+2
&y
2

=
A

-2
+5
|2X-3X2 |22X3x) -
0= 2X)2-l2 X2 2

nd
2xl-lb A2
2
= Qx change
sign
o’ 3 20
|2
12
l6
x change
oucal)
etlary
2rlboxI -
2
20
NOTE: JReneno
s
dA=s A
veu
=
i
wafinaltalyle. than 46
ene
+ j2,
sot e 12S
aot
-iN2,
lfing
j2,
e
inaginayard,te LHS -~a
o
s
plane,
(osi
thefore lat
ay
sapoe)
e

(St2\s
(s+48+eharaeisticegn
+
4)
25) (s'+
+
K/(s+2)
(48s
(9*+bs+25) bs+ s+)
25) (Sr2)
+ + Lo+25)
(S++)(sit
200 R (s+4) t K
(Soullatay
+
+ =0 4)
k (s+
k
=
sbs+2s)
=0 0 bs+
a5) nd
e
slaing
R
(s) (tas+)

H=

Gaven syske has a PI tontroller.


Ssu: Serve U0

C G
l+ GH

G= G Gt
G = Ke beomes G = Ke (I+)
efe pI LontaUle i qiveu, Gti

harateaistie qn l+ GH

Kc
aS+)(T,S +) (t,s+)

Ke
(Tst t,s+TS+) (33+1)

(GS+) (TeSt)(St)t Ke (lt s )

C
Keli+ Vas) ( Tast)
Ke (1+ helstDlGs+)(sri)
Aal3
Ke
t Ke
t
Ke
S T;S
Ke+ Ke
g'()
TS Ke

(Gs+1)
+
slG+

G93)slt,+ +

tt

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