metrewato

y ease
-

Emput 1 I -

Actuating
N(s)-infreq

->

Y GRR+GoD
=
+ GiN Gp
=
-

+
*
I Linn
place
=

->

stable
- -

I
-1
t
awardinthe
her

farsignal of thtfrey:
-> ICLH=
- 0
-

L -> 0

Error: R-[4+N):- -
for our system ->

state
Steady
error ->

ess to -> lims to SEIS) -> 0

TypeO: ess YHRp

=
-2:
tas)
Type I: ess Yau
=

Type 2: ess= YRa

 Type ->2
#(s+ zi)
-
. 49=50
=

- ·

T(s + 1j)
I

·
At

for Bode! ->

w o
-

111 =
kp 50
= to

Type t

itare considered 100]

Bode;
To find kp, Rika - from

-
(Type 2)
Ki

up- (Type o) (Type 1) Ru

log,oR X

N =I x 1
=

int int

him
thewin=
to
1

kp, Ka, RV = #is

(95)
*
=1 interest
 ↳Friday: -

is' mid here is near

wgaf

O-M-
RIs wis
N

I
: =
m"n)
is Ist order system. Types
Clearly
:.

top"Frx+=a
ess-

Time constant:
In

are a -> Bandwith (prop 3dB).

of

crossover frequency (C4wgif)1 = 1

for gain
-

B I
=

jwgafd+1/
R2 ewgf
=
+1

=wgaf
Since K221, Here
Iwait
w close dloop
TF
I

Cogef= cutoff frequency,for the

2
cIT

constant4(Ts:43 for
4, a
- -
Time

time
setting CITE oLTF
 To Colerance Band,
design:Ts =
X, for

a re 2
YagafElgaf
=

=
+

⑩getfor out wides first order

so a slope of
20
-
is
mecassar, atwgef

91): -

-
mont
I
Consider a <b

<G(jw) fant(w(p) tant(w/a)

=

:
minimal
At
-

man,
4
·
w Nab
=
->
GM of a b

w=rab (Atmaximal minima, interns of

Put d =
b/a. and
u d) : ->
L

=ran()-tanri(() -Phase of
atpeak

rd.)
-tant(
ran"
(ra
I
=

4
-conman.
5-
⑭ - >

d d4
Crauch to 1) Lincuasestcs)
when a b
=
 So as a increases, minimum phase thatcan be

ofbained is 900

i
-
2) for
aSE2G:
lant
G=
↳
at peak d b(a
=

by increasing
as - -

At w: rats -> maximum

phase obtained
is +90 when d-> os

when d-1
and is 0
Phase

e
->

B1-

↳ wget
for
this
system we
place wight, exactly fats
at

so
d=bla as
d-x., Peall
->-90-

decade distance lab-los a

of
or
-

increases, peak tends to -90·

M. log-log
Decade distance =
=

-logo()
Now
d4,
as Table inciton:
-

PMY system
Gugof 4 so
so

becomes -
more
robust.
 Saturday: -

is
Ress-O-BTs
-
T1S 1
=

1 +

G
-

I W3> Wg, 1T1 1G)

wg, ITI
= =>

w D
-

a)

1G) 0

insert
-

ITwogef)
=

Peak one shoots.

0 = N+Glingif) / E 2

d ->
02 = 1 1 =
=
2

- -

IT -1
IT1 > 1

x Img(4)

As YMA,
, 11G11, 1914,
(for any
order
an

systems

quad an

f
So
up,

PM!, -
in

31
1.5
l
Rolaion:-
(t = ddt
 as
mons

-
20

w
-> o.out 1
3

-
 Tuesday:-

91): Reproduce
-

sinusoid signals with an ess=2% till

Itz
m
freq
-

Design a 1st
order loop gain.
#
RIs)-sO-T-cs
I
sol":
X

agree
-
-

91) -s

50?
+
=
R
287 4
=

rus
1 92): - 'Can ou

be
corner fry
greater 24?
than

&(3) Why for k 50,

=

ess will be

than 27:
dighty higher -Kick
- . . . . .

-
so
for (*
R R I

GCGI I
=

-
est'
92 4/Gp
=

stick
 ->
98:- Rv 100
s
=

Russ -
>

I PM = 60

sinusoids
Reproduce

frequency /rad/s 24.

=
till with ess

>100wadls such that

Attenuate sinusoids with
freq
out
magnitudes 154. of input magnitude.

1
=1

·
-
20
c 100 rads
=

pr = dd 1
=

=0.05

-
20 log10 10 R 0.05
=

20 logiok?
T
20log.
I *s-Golog o
men
may.
is
way of 1 R100
cogefis average walls?
his we: a kwh=b?
 Oas
&8: -

-
Overshoot & time. witt Bode plots.
Relate settling

"Si
->

time for
settling
Second order system
24.4B 42 1
for
=
=

gron
->
=8 time constant)
zon
overse

To get
the

Manimum
-

->
wgif=
↑
tigs
con1 for our
 gens

inthe
G =

2 I
y 2

-atget.
so

ws
2 Ion
z
=

I I
W2
-

2 wn

=
so

i
so

y I t
-

=
 -Mr-age get
. Overshoot to

ar = wn

Mr = 9
1

23
to
-un"agun"
->

cor

gta
as e=
 system using Root Locs!
th e
-

Oacs
Ris) -

1
454): Gc= K, L
9: Gp
=

=
-

S(s + 4)

#16.3% in -

So:
·ge diss
=

z
-> = 0.5 jw

.amos"
x

ficos I
->
0.5
=

60'- (splan) *
I
- >
=

You Ijanl. ep

3
ICTF--
Poles of 2 Jun 4
=

jus
wn
e
--
I exo,

wd: 215 radls

I methods
↓
Roots -> -
2=j23 for finding,
fork, k1Gp1=1 1
->
K =

14p) s =

- 2+
25j
=
(s(s +4)(s = -

2 253;
+

=
16
 Mp% = 16.3%
so 4 16,
=

Gp (+2)
=

for

Tolerance Bands
:Now
settling time: Ts (I2%.
=1 2sec.
=

gar

st
ii) -

I cancelation allowed.

(ii) p-2 cancellation not allowed.

Gc R(s + 2c)
=

Gp 1 =

525 4)
+

-an
methe
⑧ ↳=

160
·
<L(R) =
-

ao-a re
-

tan* 453 = 30:

- -

ec -
Y

1716