wi 65 He) y) _comeyo\ Suter 10M] GOETE ( centyol System Engg —> Nise Coy ee poe Te Nagra & Gopal fee ADL 2 BS) awiomatie to —~ 3 B.C WAG 44> Contyscl syst = pynciple & Design Sy Modewn cg —> dota cardact NO. “39 904239. Only problems asked m exams “\> wotes ay WEA Sy WB2 “syllabus & —+ Tf, BD, sPG —— GD @ om — > 1A [cares enalysts >a L Steady stale malyos ‘Time Domai Tech.—? Gal RL —C6 Cary - OF a $5q}. Doman teckmape aie Giate old questrons % compensaders © controllers , > Not Now Tm systlo bus. “77 Ghote’ Space Analysis —> Com) TR 3 [5 Medhermedticathy expres 8150 Sor systorm Nos ayntbeste +f Gy Grier due Sed Gosdex + aes NO oF Slesage Sernend s TRO 0 > system oH OO No a TIME Cane Nice 7Ww@. Nes 2 \ 5 LL ocRtt WeCS) WS) bie SCR iG) cAestcion m theovedtcat 9) Poachcab 19 caver Tyonsmisston. errs. Sousce for step : conbs| sistem ave basi cats 7? besrred. Olp @ Gecursote « L o (ce P O}p paula Purpose 08 OS fs: a ud RLCOPF) S$ Mi | x L Vo ik [Basel haumg high Ssequency — eltmmateel by Ler, > Bb get high Srequemcy stable ce replace Le by crystal osc 2 at the loo Sveq. component values Gwe more Stable 7 stonadlerrol Sosm of sytem = KCitst)) Creu - ST Cesta CITE) - ae a == SA P=2 Coated pooper BR) NN Pax ( rmpoopes TPS PRY| Pumpose oF BDF To Fmd the overate Tp of eysiem 6 ondus Each block ts mace] - Q gh \ r 2'Cha. Cie coma cmalysts] 8 1 evaluot © pesSommomce oP Bstem Ge ko TIME <— Pirspose oe AS the Respence chemg €co.z, * _ sek to ime then only we an ——— Toe. sed. 0. rE, A. PAAR + eh ke Spats eS Th Freqnoy domarm. t]p 1s smusofclot. poe vi gmp se.) __. e pose i : ceameee 9 Aten >| Lt b vi Gussie hee Last _ Mose oe accu ees a Steadigre * 2 ten £5 -—> gmat —* then gWe 7 Juick vespmce. , © @> Surety —s esror | TF MCMate. OP. ~® shanty —> gain Maem Grhuse, tavgm—> IF Gh Y PN tS Veo, very Ingge move Relahve stable, & chieaal -r 8®©® tooo Res pony “(ede GM QM ove Les —r Then Less Relodve Stable & chealvy, rise. 7 to Mave osemlatom ,° SSetTabwy Yes [ Led > 6 *| Hove oscllaty Meee settelng Hine ts 80 loge f 60 @ beshornze oS Gi — Sida toigdai 2) PM 1s geet HO ieThe closed Loop Sustems ase not descabed dlrrocly Drthe Sorm oF closed lop Trans$es 34 Senchon, the closed lo Systeme ave described mievms of open lorp Te af Gon @) non unity Sib syetem 3 Sy * Al the slabruny technrque are only Fox loge Loop e sys Not Sov open Loop system ohy a ° Slsus | ALTE oF a SYo4 Cott) + “C82) C942) (sta) | Poles JtocattonS ove tdentsed drrectiy hewe stabuty tents So No. Stabtipy tech. Tequived For ol. suche . - CLT. otre of a Orty Fb sustern Cot) Neons CLTF aw) = ns 52 (542) (13) cure — Stl hese, pales Locattens are net oh + ht 607494 | tdenttSred hence. vequutrec] Glabitty Teckmque to smel CLEF Stabruty . ok The $lb chomges the Locatun of Poles 1 aS osdes tes. Frndn he MeG locaton of poleS are Vesy dtgsicaie hence we vente @ Stabtarty technique to Prk the Close} loop Stabtlty , % Preqngy domain onalyas only gwe seach] Hale AnGNels | aeThne dorwears techaqye: sweb_tbe Fomsten ees Soxly Ste ane1D Tech Teonsportatton delgy) tag oyot far ane LOIC4-9) = €” acs) : ~ Neglech € * Lecodtton = J-st+ Soy oes ANY RL - a Sppror , prea. plok gue ow mss, CQ= (at) 0056 + J5no $= tan! (amo, = @ BP 3ives only Gin & Pr Ne aves how-many poles sight ere Giles Side S cuso Wwe Gtabhuty for A) Compensadey » Contax. imple RE NO To det -wequiped| spectStcadion componsad? 2 conholles Used *Compencodoy mpwves the. Speeck &) accuracy, > Teanstent Wotrng but Speecl 2) Steady stad e Nothing but accuma, w Gecuraes Topwved by her gy speed ts Impsoved by LPF 99 @) px oe Lead 4%. F compensator @F 2 conbvlies To a ermple RC NG cohtch ida the poleS Y Zews +s the system_ Shoda efor 1 dynemic, sysiem Nromic means 4 may be Uneay, non iineay) “me vasicn Tnvosianr Slate Space alysis 19 vatel Fox —___ ip __ J eontrol IP Sustem |» psopes olp syot Veal — 7 ae ——— 4 ‘ Group of phssrea ) MOS @ may not be component 7 desisecl o)p A EAN alo blades—y Nol O SYS—> NOC Pw No als Roc . & FAN. Wlo Reguatoy —7 S35 —7 PorPey ofp —r Lage Plead | © Fan arth Reguiaos —> Control system —y Ddestred ofp DS sytem > @ cystem te O. group of Physical Component Gréanged m 6. Such G0 thot of Gives pipet olp te the Men 1, The proper olP Ys @ may Tot be the destved ofp. _Confan| system « TH 1S O Group of physical compmment arcanyed ma Such any whol. 14+ givens deStred. Olp by means af Cone) . ) yeGulddy to the given fP- the omive) sistems Ore clussifed tro 2 cogs batey On Garcisol action OY open tore cortaol system (2 Close iwop Cone! susie® vramucutuy) No goowisiondt to select Tp. Jsolles b wk Cond olen Ce ty) settchy heat ’ oy ccs ( entomeltc) Framer = =~ on ewOY 4" Cheod) L a _ REF Py C00 = iT ‘eae | —-olp MmEIBIS © Vb MI. sensogy passive Gmpners, ENE SVE es VO re The veF tp marwng but elesryedl of © SPen lop cs ex s ashing Hachme 8) Ate Cooley >> Toashe. contol system. 4) MeCS 1 human, ‘omudt 0.6 ave LCS | AC, oer. LOOP Systoms G@mpulcory human. Teedeol so any 6st. @hich wr having Sensor 2) Not having provistoncce 0 select veP Ip so tt 18 Spon Lopp system, TPE ¢ sorb sy evn action be mdependent af opp tne rth 1S cotreal opem Lowp ® systems Th hich the contaiey ryex s Pm, Ugds, Aty coles, Prassic Atght 3) 50 on ng censor BR haumga pry Ary system wbhych to ner 1 do Select welexornce Up Closed Loop os => ¢ system makich the onieller oclon depends, con the olp then W Ts caued closed Loop cs. ~ ex: human. hems, @6) ReSagesoto automate Toon box & Soc “any system aida te raving the Ser aychtch fs hang a Ps Z Seneoy g) parvisi@ar to select the wef, Sets a poopesty oP the cls. okrch bemgs the alp fo the "ep ® compared ath seSevence lp so theo ‘the appapriccte, ecnton) etcton Sommed fo make the grey =O The cick (5 stable & GWes deotved ofp C tp shout “ewtor =0 be bounded . —y The Sib nie constet the sensor § pagslve component , 7 The mar™ gam of Slb ‘rio Toitlo TS 4 ~5 the best sib ts unity Sl —Ve Sib + the -Ve Sib mpwres the velahve. Stabturty becouse the pole shisied haords jhe Lest most OE (tap gor wet be Jreate: hoon zex) 3 the steady sue auvcts ave Vatiel oy fay Uneyy sb system > the fib TED Mad Consist the emsducenr cohtch converts dhe et Prom Me Samm YO wAsting Foy,TS mMoathemerhcat eopuwalent moedet 02 dhe system the Le tyne Constant Nore: Gheneley seme ind of clemordsS carve. Comecteal ettheg- semles GH) pawutte! i Shoutcl be treazeal as Shgeut componern! | kn Gorn orm Vi sn a Od odes. the TR of G dmeas Time Invariant system Ps dePmed as he -yaho of Lnplace Temsfoom o]p to Laplace -brarnsFomm af IP oth aut mritat omedsttoris ase O- L Cer) _ LECH 20 ATL * € Ls TIP choy a7 ae cet ol Rue p - o x tony dence ehich. having on} ore cha. then tt 16 enlanedy 2 TTY system 16 olny but pc ext. because the Rte Com rpenrerey gwes the Lineay TR chavackmistics 2) The Ric Grnponent Vol ce pee : Jime> Im FR Aal|ste the mMIHAL cond? “FOXst be oto sad. *y the Irneartty b Yer emy device akich 16 hoving ON [OFF char then 1 enttecl srem= linechr clevice Deh ¢ the TEoSa LTT sustem tedeSmed a taplace oF pulse, Seeponce Gh att mitol cmditions aye. Ze TP = L [Impure Responce | . Intiat=o AP LC Tmpuke Res es TR tfoipa = —— =Te =L[ amputee res )/ as =0 alee!) 4 pee The Tmpulse Responce Wes the system bchavrous GS seter Chas acteststicd. as the —y the ampulee wesponce consists only system. pasameless Tmpulcey suctem vesponce , natusad Tesponte , Ssee Sosced responce , 2 AB 4he tp lg pe step , samp & parabolic thon. the -sesponce 12 cattech Sosced. “setponce. kecause mthe yesponce Np tern poeserct Basics” bosteatty cmny sdalem cleccathe Miowms OF open Loop TP Sane the standard Sorm of apen leep Sysien 1S sepreverdel os clescaiberh CLS eS ltec) Cites) (os. com = Ab) = - Rosy onGheves KOT axe oustem Parsomeless K- syle Joon T> system hme const M- Type-n sysiem owes gies the toad no. of paleS i sS-plane the siqndawd Soom of Clgystem 16 descubal ‘as a of my Alb sistem. te acd = kate) Citta) - - S5™C 145%) Citeth)-- - > To set the tupe 2) oder of G& el system dequised Open Loop TF. oF Onty Fib system &@ rind the tupe , ordes & system quan. to the Solloamy, , ac 1oCsts)?_ aad _ LL. =. (pote 2e00 ~ Poor) RCS) “53 3 Card) (HO) CD Ios? ( 140.08) * k= a I awk Dr cons 2x0 3 (ros) CIFO48) toXs2_ | ae 2x10 = los (140-25)2 © Citose) C018) Type=3, order =S@ the close tnop rr. oF 4. ontty Sib system Is asts 52+ gei+s58+ F574 2 = the type Bo. Sty 5 OF the syelor To Jet a ype Bovdev & es) shoutd be 4. er geontio ec = & Ho 2OtS eme weaiertoes 19+S a oh pastt 5 O45 “ Its a= ets costs : Sh-+ash45e4 162 oof stradesere) Wee 6 =2 ower = 5 To §et the Spen. Loop Be. Smehm Jyorm the cL. Subsb et 1: NE tem tT the OF Ghen the gle ts ontty, To get the Cel. TF _ oy Foor the ot. adel the N* tem a ~ 8th roo mney= ~ +K2 = (sts) (Sto) 895 Reo R@)S4- “= he eet IS hese @e change NF then no change m sustom but 3 ge change oY as G-s) then tesponce become et eSB the DY oF the TE Moke equat to Zew them It fs cared chas- equodton. » + the chav. ed® given the system chawclovtsttes os behavrouy + Por a cl system the chay.eqh fs i+ oy=Ho » c 7 The voots oF chav ef” ase poles oeS. The vyoots A the DY.oF the TEP. make eonett fo 2200, then Tt 1 cotecl poles. 3 wole of NY OF the TF, We Zero . poles Qzevas ave mothyg Gat —Ve of terse Of Hime Customs 2 & S Time ces} gues system \ehavrour TP slice: Hes —> t55 rt \ C= So paatnrenc’ bleIS the me Cons. 1S Vern sarge hen the system, cna tix Sow responce becowe tH takes ihe Amye dme to Teo’. the Steady state. peachcouy any system fares the ST Constard to each the deady Stade. 3 © = geal past @O Dormer pole Domanond pole § the pole @htch 15 lowe to the Imaginoay axes. ~® © prmd the equyalerd TF : 1 i) Fmd the syslem ‘Time Constant. Por 66d . — | —__— ® os RC) Gr) CStle) a Ssngsegor stone Peay = \o oh —— asec ofc 6 TH Ap eec = OL sec rgnistoant pole 3~ the pole @hich.” ives TM “the Lest most stde > The meignifioand pole Time conetcn must be 4 comer pie CO. 5 Ly A best pole 1s a Mstgnifican’ pole becouse t Sven Very quick Sesporce 8 bre relative. stable. —e be eause 08 the dowanant pao the exctem vespance sloco 2 the system becomes 4065 welaive. Stable —> nstywistecind pores que neglectecl Sor aPPye vtmadee| emalys 1S becosse even 1 the mawguid¥cant poles ave considered Herve To much change tthe system .Tespon,ceSis ReS RCgQ)= 4 oe) = oe On at Phe 8 eet) evens Aes , oN SCo4) Csh0) 2 = acca lok . 2c 8) = ae 44 C8 Nar) yO : y Z cope og DP pole ASP POE CHleec T= sec ab a Emoginersy LLom @ wosbs] — bes — 3° > X— Teprevsemt Vepeated matuse of pole Lfee yp ‘ cso"! * x aac | CL) Poles | wepewes, |,—* Tn the yesponce the Exponential powess ete reat po Poles» sm @ coo Amettons ave, Lmaginosy past oF the pore 4) +e wepesentS Repeatecl Neve 62 tne poles 1 0 a the Syslem ‘Tine Constant, compare the vesponce ith the E'S | this custem tyme comet. 16 noting but cow nan; pote -tme Const . chouid. have the taagest vee. m Cc#) exacr RE | Pov e OS OLA Eos K — ® whe msignisicant poles owe neglectec. only mn the ttme G@nstamb osm becouse, the System. Joan Shoucl vot be chaege . LOY jt RC) ~ Gx) Cot) eee lorcet e-t8) £S) Lol ~ | Se RE = Cc rit HS. RewHENE peecaH (lve SI9.. Reapante mypa=ecy )D-pmd the equyaent -e? m the gven sytem ces) —— nce — (S11) Cotte) Cotte) T= set Tass Ce HOLSET a 9-004 . Cot 1osien (LD C4404} > CAFO. ~ VN pe hese neglect LEP oi rT —~ —. \ a heStonce “~~ Poles) 3. cts _ Corl) System Slat tity RO) core)cets) | : . | Sister Tre pny 7 éyo. Rep RCO=1 jail to draw Me REPS CO = Cen) Ceta) cara) . ~— -\ Qu ey = St \ . Sto Cet3) +I? (aut ~ : a : 3 os eH SYS Res conacls ce) = O34 e only poies tes | \ lot@g- The open Wop eso Neves asPect Hess NO 200 \ ho open loop Stabrthy , the cpen. Loop Zeoms a3KetS [Ros jeans ons the closed Low stabruity becoz the closecl Loop Polegave)h the s¥5- Res norrins byt Sun aF Ol poles Gnd of Zeus Colth Fmcih oF «yéfam Sal — JSS ait the poles ave, tres om Lest Side Twespectye af Zens them Systern is Stoble _ hte Fmdmg Syetor Responce, System Stabrutty 1 yeh ame Constark » Consides OM pole, Not ZemS, becouse the ystem Yesponce Consist of only pole sesponce forms NO ZEA Tesponce teom exist TH the syet em, response Spen Loop Zemeoc” value —? Unstable = 477 © = 8S stem Reepance | Frile velue.? Stable lo Foansles PINGS the’ eletkical NTeo fap ocd) Awpedance aces olp NI@) Toll kt Tinped cace Vice) [a5] Vocs) - @ . nie CEDAGAPeert © Find the Ee. 4o the gwen eleclsteat pias 2) locate the poles Mm S-plane. R ® emd the system Reoponce. o ny R a To ° ana ns a He) = fee Vols) voc) lee Ls a __t ——e WC) RA loc \etsca, rese med _Necs) tL “nce (+s eh aa Ae Sys- Res Nt Ce) = vec= lL TCeto Cr ») Voca) Lert slecay TebT — Meta Lp Zaft a exp clecay oH) = Ce ) fe syslerr ts elcble o e - ny eaponandiial decry ay TS eo 1S Seg —g-4 -3 72-0TES 72 one G8) Memy poles Lies on -Ve weal ots ot ciPerent docctione then the System gesponce Ts exponomdiad. decay ivtespectve oF the postion of gews at the syslem 15 siable. - = ~3k a Kiet ket kae + RI ec) \ ka | \k mh wh : KO aad Sett gong ae one S © fee a O12 ee Siolsttly | The weemerd oF polem the $ plane notrmny au @beve ,absonte Stable system Nottongbur the wslem 16 stale Sov GUL the values of System pawn ctews csnditonad stoble eyslem. Neans the system 15 Stable Sor” Ceriain Tange oF System paoMnetews, addifonab oS pole & zene to TP. 16 addmg Rio component +o the syotem. The RL G3 ComPonamt adding to the systym TS two ways SeateS Comethidn . Componand- added, ™ Fossa path > I conection | Cornporenks axe added m Fb poth.@ Fmd + ©) Fmd the P for the ea et Peles im the s~ plone by coscdesng R=o, L= 1H g) C= 4F Nolo) _\sc_ = ey Stet scpt) Veco? ateitilec ° ast pur paso L=!}] BC car | ate 1 _ 2 lo See a ja- Sworn Repeated. poles on the Has So SISter Mosgmahy otal e . Ina complex cougate pole the veal past gives SyS}em “Hm: onstant 9 Tmagmery past gv & she Preqh of Oscitottons Sstem pes)=4 Ve) = anc) ok) * BA AAT EO Unsermpad.| Suslaxn eseriatronsl Nahas. secrlledims = Gl @ Repeot the above problem R= Ms l=in, c=lF, thee _ SActoeRt) ‘Ys Ssh st]Nets) VCs) * syst Res kon Vets) = (4 oe ea (+ 3*35R) Crs) M2) usta = woe ES) [F Meo * Gi | LT na etm (2): ES Expmenctary decaying ce PEL of 7? 6 yr Step Responce ‘hss 1s Sos Mmpulse ReSpnc & @henaVey the poles awe comple Conugade® Mm the Left of S- Pkme then dhe S¥clem. eespones Te eapovendrekut decay Foam of ectiahens Ghrch ose oaned dommes’ Any Syetem. obich poodhice dompeck osctlicdton teders domped system @® vd the system time cmelant 2) the eustem wespmce to wo my the &-plone. Sr pgeS lwculiine * 9 Unstable S0.ho time Const ~L =| % = fox unstake. —4y STD A | te i \ 7 : || the above eysigms is sobiatie hence the dune Qnsiant-denrt detmed- | | : YI 2 Nohive | Sxponemhal wee , o Uv Mo . on Kye keener gee + KE Ky ¥e kao - : Lo Ko LL 1c ee ere = IF one @} mony poles Nes dr the vyhi o8 e-plane at dsfeers Jocation then the Sehern ‘Becponce 16 exponents woe Jo co. ond the Sustom £5 unstable . cH fe t - i. — a aan ee [= yra, ae L avon eepeadeds TR Sed HJoreds (a) (ucd SY. ReS A & c pode the , pew Res i ma : ae B Poheas the UPS) seamnadty elabiecabs 7 ea | < t ° Repeaded poles 4 Repeaded pole Repeated fet Repeccteal poles - I ieee one Ce 62 Ce-a) ($-0) sem my f, et ud x. ett Le sponce t \ on saco he \/s Reeponce = le L | aa aN ~ an stable — A= unbomolecd sobamdest pooduel aotth koundesk Lex pee= Jes Product te Lomolecl propduct. x Jase | Ta nt 1g ty Fonda p> ht | noregnnassy bible. tb wv i L omg oF avo F * —— t sMbt e (sed) 4b”~ TE S-plone Real poies <> Exp tesms 13 Sontic, peioe oe STR BD OS tems Creat trang) poles Pooduct oF exp g) sm &) ws dems Repected poles <—* procluct of >+' &) exp. tems . Innge® is iuealccmger Tr yeh tts St Lt ™ wea Ga vice) etl (ist) (Cotte) (tise) a) (asd9 -96}—ko}} — ALO t rao [eT Oa ACD UE HHOSAS JS) T—— KVUE . 3S Lv Fac) - q(8) 299) @ 0 = (o@-16) uO + LE (261240) ~~ HQ, 34) 29C5) — UCD 22H)F IH) ie Ee ——— @ Ves) YS [s*+s6%+95+ to} = arcs) Posy eFC} 4co Jets" _ rip Related tem. ACS) 2455445410 “olp Relotedk team @® chy dos 4 dy 4 9 = che Hoy ° “he * * dae Se te ar ts mot _desine, Xe — & Given systern 1S Noo.-Lineceo: hence. + the TP. <3) %.@® eottte ass eg”. ty the gNen TP SCS) 8543 “X@) SU 59+ 6 & = ada. + Sirsd ty 30oho Responce _ Nevey q See 5 97 ASS or is Onat ROMP Reg Cpe sett, ) — font romp nes} PR= r alia L Cont) Rampy @® To get the TP oom the stgnar Regponce i: 2e the Soemula ae. = EE rk git mral emualthons owe 1 LesPs : Q. E @® The wnt step vesponce oF the system H the TE 2 VF re Lt (Cont ep Responce) LC ont step] _ joS Ho SCerd) @ serswavesy gives the_variation an. tr oi sue. te tne _choage ™ powomelen - GCs)’ & HCE) che ye Jerapenro the Posmmetess arse chomges dye to the TLR. 15 Sf wo@,4 dhewaborce } Nol) the Sonsthvily OF the 1 Logch Vosiactons Mm GCS) clenoteeb by lees => Sa = 7 of Charge in TE , ‘ “le of Chonge 7G at, Je oF charge 1 Te - (a d®) Po” Tos change a ia Met = CaN (SE)find The Sensritts of the OL & CL systems 5 chic do the |. Vomtodign Gcs) , #C5) © cenetiyrty 4 Mems the system 13 highay Sensttive thee Means Yodeven charges aceuTse M GCS) that clirectly asSect the ojp eimods i oe Gh jo ‘i 4 faryo) . 2 = Mera | | sun (4) ~ Be ~ UR [he TAS igi Circiti) ra J. ol eater te hyghiy senottive cornpaseal to cl Sdetem — yf 92478 To gy =( ae 7 4) 7 co a 5 Crran)2 ran, ‘ glssg , . Sa 7 OG Cpl path 18 Mowe Sensitive than Poseuge! por, > - sve sign 18 beret, af Ver Fecal b exci ) \h mics (S snore Senettve than the Pos@cwd poth, > erpd toe sonettutty oF the given syshem av‘, 0 lgctodt ons Ok GA RE of US) Or aq) = k | hese WG) 3 Cote) | et a eh ta oO) a \t wore | ce = x 9) Trae vkis TStetaekte SL = kh SCs4ay ot oat a(S) 2 (*\C&)= Crk) ~ ") CS) qo find the ovewoll TF o& the system. ° Propose ° L wepyesentotion of the oystem. Tha shovt & pictosia ber tip & OP- ete ri CF 7 Lhe _ Je@ bt ccs) Re jeal the systern oan be represented THO WO ooays, © Open loop Form @ elocecl Lovp Posm. wa o Stes une! Re) {oe Gs) aa ty 5 sal 2O) are, _ acd) =iiss Gite) & HCSy septenenle the act Mothemedrecee medal. > Kream AS Loop San C open Loop gar ) Fe act — cer} —> Bes) , g.>= GicedD HS) > oLTF oS O Non~ Unity Fa SIS 1S. u@=’ ace) DUTP og unity elb system ® goockcauy Sos 4Ve Slo, the phace d cst beh Wp 8 lb Stymal 1s ©) tam, whereas Se -~ve $l the phase : MS bef™ + tip gy Sib stmat ts Ste" @) owt as phase. Loefstoon, beth. otIF gy tip fc ‘ OLTF ofan tmp _srrtein. “olpge lovp system. \ the mom dis of S\b the gam em afer eee ‘ ts coop by the Pactor oF (it6,, Be ee eS s move sable ; bec, theve fe no actor fy asseck toe open Loop / eed : 35 (oop gain = —4 then. ol Shabtity 7 The Cs clepondS on Wop gain $ the Loop gan=—4 thon the RS} osSected - 3S on = 5 Hs) =O LL Siete get asvected a8 fo gon a F WP BWIMN=O 5 CL Stobly =OL SlbIT Loop gam yo , De tVe, Pele ehish cee Less side, CLTE Mase slable pep OO, ron. OL Sysim ere 2 wor 2a oe eee INE AcE: S10OL suetern aa CL System he - clepongle on Th oe = el exelem accuvdacy depen , 2 : on Fib nlw wotto. oie Ob eset bens rade « 1 the Fb le SWes the Compose tm pt system stable Value. then the ¢! boop System 16 higniy S '(@ The ot system 15 heghiy _ thon ol syste , Senate wre, ko ace ® etth elo the genstt dishetonces, noise & es by the Pacior oF _enutormnm emd conc Hon. Chroiii) tho reece the becoz Whatever changes Occuss ™ Gits) that direcHy arvectsS aS olp cL eyatem ys Less Sensi Pow the vortattonS Mm GiCe) 1 S iy, © wrth elb the garn. 2) coe any practoat éxstem — Bandandt +> en he gain B.W- uct-1e Constant . F Jam Bw. godt iS Conster Clea) that theane tne BW. tes by the actor of Cit MASON vol “sepresent] the speed of the responce LMQE BW YIVeBS very cpyck TeSponce + CHa) BW T A Speed of the Res t Gorn » BH = Cons AaWwak, 4 ore v os ernie CHa! Ge ce ech oe wr a a GIO wD post Rice &) us lo FR io sou pme | Sov High an? © Reltoburty 8 The Relwbwtty depends on the no oP Cnponont Usecl tm Mh er. dhe al System Is ‘More. reliable becor Th has Less Sy flO. og Compdnend .Bam open loop Omtsol system 15 not Necessqyy to measure tne Op , encase ave not genenescteds Sensors ‘Ave rol egoendtol Desigh 1S eaoy (@ cip musi be measured s Sensars Awe esoemhul » evrors ave Senevateol design ts Compl en ‘Diagn Rectnlon Technique ey 8) Blocks axe Mm Sees @ Cascade Gat > ; Re ts 4 ‘ést [eat > ¢ R—[ Gi GiaGis}— ¢ i - — (3) » a Ta ——9| wee =. Sy _fONPe Res)” = 9| oe | FG. bye Rien Taal_eqivelend Diagram © Trdeschemging oummng pond + a eric fa _ _., OtBTC . 48 * Y => ¢ * oa I ic i Io, . ce )) eepieima | book gan. 8 Toke ost potrd: 5 pegalent) Yah = i C =e reo fay— rR “fa i {or te ju x Fcelosta)> per car “Pe Ge) RAL * \. cs Ravn @ edyace eo o eae pare a at Er fe 8 TR aa are — sa “= am oe Ta} Qe OR - 3h : ae© edjasing surwrdng port 8) Toke ofS Pomme . order of potostty Steps ‘saties| Ne[ioop | Sepa! ae a} => Gi. (: { CartGHe ) (*) Can (eestog) () U4 ha a) pa ore —— . ee eo (eee es Create, aco = 7 \ pee) OE \Y soot Slee : my ea : [se } ccs) ye 2 Ha, 1 Lg o (ma ae), BG _ S © Aa a) *) _ a hi 1 cos) aS 8 acre Rt @ ot (oar) Ho Ae bh Ewa) EGAN S ceed AWS fans e_ suiatin OD) = SS 7 carcass ae cao eh Gla ach Gotta “net 2.@ doas the extunolork beck dhagaom. * a oxwond Poth GAM =AL CHCA ® gia nevew choma € [ee omy thing aden: eae oe Tom Fad a - ~the ‘pad sae aryt “ce) Shrsting Operas? 1 fewSorm ec} Changes oceuss 19 dros Input Fad path & Sb po noves tte domg ‘the olstmg opacacion the. chemyeS awe OCcUsS only © addrtronee posooock path & Plo path core ttecd + jhonge anything dong the Hick pearteult porrd only + Neveo Cl 2 mom Sso@anek poth:—y Gi Glin Gs [as}+— ccs, cc3 an yun, _ a) cea We Cost “x 5 / eg air. Crs (ws an cotenad) +6 x ab Aa Ae G2t—~— CE ene ip fat ces 40 £—Tra k L —far a a e_ Gaal) __ RG (amon 80 uae) —— sal | Pan Vi “L,—«) ~ Rethoc 28 Re ide : a GV Red iL a +@ a Le — co Corts) Tran ait Grrli —g—fai a Tia ST VR “Ry achve , Ro =R3=O0 O39 [G $$ on cs} any " 7 | \ enapa0") See Giga Ri \ Provan a Ry=05 Ro actye Ra=O - i : . ; = oP 2 AG Ce ee TA Go Sw Gaka. |= Guanine 5) [bas — CCS) _ Wo | Ga _ THaGnGig . R=Oy RI=O, Ry ackve \ Lrhint a ~~ = (-hacu Gio) (H bere 1 oy | “ ~ % :Cond #06) = £0, 1460 a In the above B.D the olp ot take oss por) 4 = olp oct toke oSff hence we con trdegchange tokeos¢ pt © Y@ CCs) = ay toet 5 the equtuatent OLTR 1S -——— the gen Reyonce 18 closed Lop system Responce » cure £06) Ged) _ RS) \+ &Ce)oo = The Nodes Ma SPG ave Vortables Thal ose eurment % voltages In ¢ AE TCG By perth gauss 4 my byt Tmpedamte ® ostmtionce oF the system Componert . le& Constochon of SPG ke The tneay algeboatc @ Yo= lot @) Yo =loy Ya= 241 Yq= Bol OO Ay= W414 By90 + S49 Vattahle @bich ltes m the waght 15 input & cest 1s olp. Goanch Stavl at Mp & oncl ot olp. Conotant+ 18 badiibh. gum ‘On ® Yam loi Up so Poth gan Seusce, spalh 300 @, Teamemartcmee | cm Op @ Sqg= 24+ Bots @ Yo= fox : we de jwanautsen @ one-to Ys Dorel 33 Rule many | Qo da ® esnstuet a seq to he Ben vet of Lrnearr ogelisate, ex". Yq= tog 4g = Big f 494 Sq = svat Ctat Fs Ye = 84q4 So. Ieo= |eC@® Fynd che, Mo-oF Posmarct peth., traltuiduatd soops % ‘oo Non touchmg Loop to the given sec, was] path g atts poth Sxom. ip to o/p Loops Loop 15 o path TH temmnctes oct the sarme Tsde abner nu 1S slaved non touching Leop - IS thee, 16 noe common nocle best” two & snare loops them tH 1s cancol non touchmy, cp Node: The tode tH has only cuigotng bsanches lp vode & the tede 1 has only Incmmy branches. cham @ tnked Node 2 the made H has teommg &) Outgoing beanches. . caigle selects pusaurch path. each mode choutel be tauches « somone Y Imdntduat Loop. S 2 oO NTL 3 LIS Lia ® Fr the ww. of Pood peckhy no. tac- boop » Mo oF 2 NT, 4 NT Loop. no. 0Sa — oli BD > Da — 43 eS ee Xoong / 330s ~~ Ula €D — x9 ng a on : Oi x19 x4 @ w Cola OBR GF IADR OY _, lu aceq? KTA2 Ka ky sR a A AY W- yh ED eee ea SH Xi OS ee 1-5 ontL— @) *) gntl. Lyte Cea AA)“ 7 tte C xargs an bam”? Like by UY Cya tata) Lo > Vals Ung tema) * Las L Lala (ROBB) % Leta axyvg) b6 L Cis if — > Lolelycan aR oem Puspose: lc dmd the qveratt TP Simei af the o stem, = f Sean) mal 4 J ~ 4D porgawol path gam A= 1-E04 op goon) TEL wan ® oF 2- NTL) ~£L wom® of a-nto) +30 Ay= fs obtamned gsom A by wernoving the tops touchmg tr K™ Fosecd path. d@ Find the ovesaal T-Funct® oF the Stven syslem, = =~ ow Al Cen Gs Gq cop te te 7 ces) ae + ! ~ he ~hS 4° pad path gam =P) = CiiGy.Gis 4 Po = as Loops =3 | ONL § Lig = Gig hls yw \ Oe ete Ate ee Un Gallo |A= S~ Cota of rdwidy cd top ay i xX yy 4 x x ' =e (bat + Cut Oe) = 4 - Chyt Gupte) — Gah) + Ca Cts) + cnrfagha) eae cian caedi® PU Hs Gay bh We Od, 4 Chy vemoumg Fret Pad path) Ay = 2 = 1-(Utg) + Cuda) Chy-vomoung loop thetrtouches to aFd path) Ce) _ punt Pag. Sutlotintiy 16ts (iini tase igh Ht Ree a PAM AH 2GIgk StH Mtn, Fh So @ shank out tetbod * _ @akste eating A BW AK Joke opposite, Sign FOE ¢ odel no. oF aon. ‘touslang ioops © fore some. Sigh far eusn nm. oF NON Jaros Loope ®orie oxaimny 44 cansidies the YooPs ghich ove Ne touching, to the selected soso pot x) i aya ln eC? —, oppoetie 9 ae) +e Conte — & Cort a “wn ve g-@ al (ote ) c oo 8 cA _ ? yy yoo ts + 7 cc8) sy _ =H ya Poh Gy Gr Gy G4 id lap = Ge cH) » = —AoSr 3 > aonne. stg -GiGi G3G4 4 Gy Gay + H2612Gat Habis 4 GU Ga.Gtg, Gry GGis A+ AnGia + GnGigty FO4H 3 HobryGig, + GRITS ee Gy Ga. Gry + Gis G14 ha Phy = Ha 1S asta Holt Bio 1S, LocPa loop S Lahr Guythogauist RaeiaGig—+ Gun GioF GuGie (eo) eee GiGi. Gy yearn Gey FG GMI + Gt RS » pi [rena + hCos _ Hiro g SHG. Ht Gta G4 + 620% G 14 Slot t StaGts AyH2+ Gi Gta! GuisrGryt Sq __ \4 Gano cate Hoeven Xs Oy (@ oi3 Hi Hot, 7 FEES Wo aw Suh won onteuchiny - e052 - ‘ gh nue Esx8 \ ii Ee fason's gam Somme Ives the tadto only 4 Jo tp but mot @.%.4o middle node ye. oe Xo Rol Sis" els® 1c diet Mls) oe al =a Xalar @ end See eee area 3s oot reo” aon ° Oar eosi i? So 43” a seem of any Awo node a gyi (8) anise cnt 4 GND rr marist ABTJ¢ — & GG Ge” + & (i Gt 4a.) ay — ~ - A= \qartag Hot GuGnGgd st Hed GnGiak a Gin ha G3 Ba Hy Gn Giocig tg Hy + Ot tn Gia Wo He, See 4) A 3} a 35, = otros 4) atts? Yo. C+ baat Hast Gand) i ST TB Baldy GyGnGeGg tones | (rest) “Mo dal “Cyt hae} Ha tanh) BR Gy (\tGnwe THyt Gio) Fee tone Cree meee e BD Ms oF ry V4 rea) & Ce Gahat Fy Fos) rae” ee ne ‘net lip ede Vs have to crate cheney it Ip Rede . de coca no RI UL CMO) mm whe. above slg Floss » Feaph R16 Tol op Tode sbecouse t+ hacen eee ees Va. noe diem yn 8 1yace t oae ec + Gu) Wot agnertts + sf SG cee wens Hg, “Ve cau 08 anal o CNC easmaooh Pott) — ==?@ emnstinction of” { ing =Rq Vo(S) 9) soc} branch cusren} & Nocle voltages © pay the Lapkice Toans8m do the Te varobles & elem end - @) witte the equcth Soy Onknsam torent gy uninow Viges + VW®= ons — 0 \ a@- 19C8) =o =7 WO) = zac x . , Taye VCO Wels), — @ SL > (Qe )R2—— O Wsl Ro 1IS¢c YRA NLshoe ak po @the nodes m shat [> 1 matt hut the vastables along the seate bron eh Ag @) cach eclemert mo eclectic Nia JIVeB one Rerwqyol Poth 2% one -ve Slb path © ercept the 1081 element @here wt takes the O/p, the lost elemerd Jlues only Por@arel Path - @ Toke the InVesse oS Impeconce For sexes branch clem 98 © poth gam. g fake the Same tmpedamce Sor shunt beemch element as O path 3am. Le &9 _ het Ni é i ue | ——_—— —" SLO LS L : : re WB) 1 ow Ly . C _1 se Ut " TOR aa “ee are — 4O = 1)= sicsy rad) _ Yo _y VirNe io 7 ok A al Vo= ERETne clomarr enol S € 8 To Prd the pesSommence af the Sydkm GS to inn aw : : 18 the regpmee. oF the. system Noses @.%,4o THme thon ft 1S cotteol ime. vesponce.. ch» ore TRY ocg) = Cp CH) $650 (0 the ‘hme veaponce. 16 cresthanyy bat Rernstore a Blenoly sede Resp. D tdontsy jhe Tsométont g Glenly Slade te_Fesponca in oe a 8 Ch) = aot 9 amay- 4 3.cos8d ure! mod + ope OS Oh ha the Lear. a conotst expan anttot dlecy 18 Teomstent Aime. vesponce_ bees EF 1S Kew oF F-V00 - coven — My AAA = i , respmce. “he pole ues ack 1-84 cacle cree ast OM CCEPI -The pole @hith Mes on Tanaym all aWwes AY &® Yoimstenk Respence & ott 18 the past of the time sespance Yhock becomes Ze00 Cs Game becomes Ver tate that meoms am|a"Fe0 yg) =q the derm ohich constot expmenttal. decay 1 eorec the foonetent tem wy the pole. hich [te5 Te’ Lest hand owls gweb the Teamsters ReSponce - > @® pizads Blake Responses PONCE” hot vemarnd aslen transl en: —> The ‘poe catty Ses ove MAGNATE ‘gives the leach Stale. 789 Lom APO L— wens} —— Euimemede 5 of ry e fresh Goclet ayia autre CB -( a) ere BH —- c(é) RCo) BH i typed , @dert GO= % nomek ele eras ceeeety Por CLTP 1 cle : ome ag Uraly Alb 635tem ae)@ fe SFiltey « ' a5 epee ee , | Ne Ni 7° NA oo so @® Impivce Reg Sponce, R(s)= | ete) a sH= SH) RCS) sou ie =i, = | the foe TEIpMes Comsrsh oF _foamertenct 2) two.res camsttio® mp “SPICE remestench Sustemn pusernelerss _ am “the pulse Tespance 1S knoamn as cyclo vesponce, nohrrat Tesponce, Gi) Sree Sveceol - ae eSpan ee ~ CCE) a ap eC yorg deviation 08 the olp From the Pp. theck ts ewray §- The eoror at 70 eno t ( i cc© slenoly slole sous Sem impuloe 1 Tet define oF ACTNC | - 2p becom thette 16 NO Up cad cip exto} - In the sysler wpm: 6 ak kro thelre 15 Te Fp vO OIP enust, hence we 4s Asie the sleady Siate esos. ® net sep Respmnce > Ch) = Uce) sD = cs. cé) = Als. cs) oe acect!) 1.1.1 —4| eco = Cb 2d _ ee = aaa co) P 4 o the steady olot € tem ts becoz of the IP > 8 Peas ero _ term te bec oF the syste z ~ 4 _ _ E55 (emer of Stay otaté) = (rte y) =o ® vrtt Ramp Red Ca) = #UWCHY RCs) = HS? ce® . He Re ST+1 ce area ~ -> { \ aacrriy+ Bs Sotrnyt c& | 92 (841) 7 f be a Faran a ROPSTHNY 052°Et tent) Se ewe Lc lect te J== 4-700 kt CHO Dr T omst, 3 By 7 A Np exsuy ‘ LA Ip exvoy too 45 tHD = 4-0 F=1T Host = 4-04 FEST OF —-THO 4d —-T t- Oo @® Unit pawabolo Res eC) = 4, ab ue) R®) = cesy _ 1 Res STH a, Beh +e ao Soe YS GW c= seen |@) The Rea to the a” — @ The Res to he wonder ayotem Q tTupe= t * 5 J ee CO oedew=2 —_\ me On =” Res) pagent On @ the Pract : pooctcaa okt to the geconal ores Suelo 1S RLC LG PE ae dy Vers) \ sei oo 4. vers) _ 18° x Xo Tits Rout Nee a _ te = Recor sich) canpase eg @ HHO duurde bs : Gna? NSo {sol ondevclarapet es cA ental —-@ ae eve B- 492+ Nuc tie Se oka =k ngo ct Newall § fsemngy m Qa So —7 OdSIOT- semmet? omen Radto the wodt oF encegy knest To the eneagy store nord) egnno'4 grove @- Gifs gives ormp™g Sockor. 8 gon" 19 cared D . C= =o (Seite LO 4S pgyes Leo dian Ye RS# The 9 ardex ays, nohize Complelely cepenolS on & The ore ores S¥. 15 Stable Sox cut the +Ve \ab ues af & VOTH Secon Poles Nes tn the LHS. oF S-plane. ED Tinprise Res. to the grd order sy ot 8 tTH= SA _casect) ¢ Undomnped axe Res)=4 cod 4. cocq= Sn £9) _ Gn _ (sro) any 88, RCS) SHI ONG -f Coy arent Tayo t “ > Tmogtnaas pools Gwes Sreemey of —4— Fdo=4n Oscillasn tele a) 5 Rew. Pret Wes. “SRE cep = GnemGm)yy Non sepented Poles on,Jo-wus @s) yi =x $0.0, eons ws \so] NS = On “sec, y » @hen g=0 the poles ies on the magMhary anus chich ose, Rok vepead ed » the syste wesponce Te ometont cnnpltucde gy ” Soequency of osciliesion which ave coureot Undampes iy ane PS e| any system which produce undomped oseriasitans 16s the Jncamp eol syotem eae wre Mot change arcs te tip of arel gaclew 2® the od opdes system nohire clepenals on &. 39 Fe example, Ghen B=0, the seancl ovde¥ syotem nad " constord amplttucle & Sraency* oscttlodron ovound !' Y]p ] chich neves changes ky chemging the TP ggnas - hence ahen g= 0 the 2 eredes eystern Cartesl Unclonnped .yoiemn Simtlesly QL E41 > Undescdomped systerm 2) G&=4 2 Sotttead clomp. Ry i —z Nev clormpect oxo 40) oe A ALAS AAs Te Shep emapulse a ° pomp tip powabellte 4] P nT hen &=0 we commno} Sack olecy stale error Sor any Tp becouse system 1s masgindt Siable The steady stue emroy Catculod e only Soy Close Loop sssben case Ci) $ 04K <4 —> undesdomped eyetem % 1 Les: mpuke Res oo con SOL) = ae Re) = (Sty a@and 5 or Ree) = Sota = RON t Ion Jy~~ [ ene ee) Cst @un- Jon] (Ct +809 core a | ¥ - 7 = = Genk 7 CH) = je « on (onde “2 “+ 7 7 ep. decoy & S00 — ——? Damped osert { hen 0441 the poles Mes en th the LHS Of S-plane olch ore Complen, conjugare the system te Sterble > the. Syston Fespmce I$ Cattell -exponomttar decay & Fraime OS oseriatron Cokuch Ave cottecl Damped oscarliaton ang System which proche clemapecl ccciiodtan Ore cated rele clornpect Systern iHCogeCif) $ &=4 Cxttteal domped syetarn cahen G=4 both the Poles Les In-the Lv. oF SACS » od the. Sere Locadion, & Sistem TS Biadle > the system wespenc® cautent eatitecs clornpest ayotarn . ecmse HIS gemexroxe. extitecuty 4 clornpech oserhiedfon . case(ni) g Ad oVerdamped. syotert sustg = Rone Or TeR| : ee ' = guy OWE ~ gomtont et oon. a CO Gagne nT) Heo? ETE on = Caunpeay aunt onl ~ (atone word _ , ee eo eoncca) - * exact 8S | [Are chen G71, both the poles tes mathe LH. oF plone oct cha Sieent Location the systern 15 Stable - The syolom sesponce 15 correct overcomes Gr) elimemnoss ovewcloumped ey lem beco> tre, whe systum ves Ponce cdompecd oscillation , Bo, ordenoped. 5x $= cm msec. RR Igh hanaere T=06) MS, ~ {43a - ae, * 0 €xaa) = vo 7 ac) o + Gon7 © eee get lt 7 ae) = ——__—_> aon * Satan” Teo A es oa on gyey ga tedleec tn ae } (03)gS ©. SuMETY s- © whem Ee Tncvense, Sworn -4 +o 4 the Sevcmol &_ Mevense Fvorn ~1 “To 4 “the @ a order eyolom poles Path TH % crgel th a oqobue oF & it 7 @ The & value sien 40 the gen pole secadttgn 2 _S From o tod the. poled @hod & Jomavds lex ey Neer do the geal cats » Inthe ase 4X7 Tne. Constomd decvease {ty gettting time decseabes ai) damped osciiotion clecrcarseS QS Gd decreases the tme specifications dd kootp Mcmens: cAabtsrty os he sgotom | Tes, athe welodive en. Oe ple moot toqr aor Olea]: qhen G74 B) tnevenses th Yoo ovigmn om tno, OX oS. a Ja Yo C0689 G) ‘Tne Consters 4 @ Settmg Hee tee @ Ae daeped fi The peti srabuity caeatiak® be come "EA of the syotem ves ® owes Of che Ame constarh 3 pee ae @ sasgsr sh as) Londonged 7 Lovesdame 2 Tordendame y Couteog domp y\ @& iE) S @ . i eon) 2 (ean j (aa Kooy genet @ tan NC NW nnee) a© untt slop _pesponce _ . w= 1. Ute) ROS) = Polk acs + 2 EON § Fey? (6) = _ Gn? a . 5( Sh 2&5 FON) ose s g=0, Undermped 6ys . on = & BS+C ~ Or = Sy BSC com Gg (he 2) ST Shah co = a(S ont) + Gots C=0 g- go oo! e(d= L478 = 1-3 : ° 5 Sat San LeLeT oe 7 GE) — cesGnd = Co cos (Sn eG) II Not clefne For K=O \ L osorticd abectt) & ae a ae : of aed unclendomped. OL E41 the Unitelep seopmee, OF sydkem fs = &Ont _ 7 ecyei~ = Tom [owas aN re ea | tanga oo = Bon = Kee * ah LonJg Cos are | ——, ee > tomo ST rR% fap ae A) Coe & Jon drge - a a oO 7+ oe, eee cose(M ¢ <1 Cetticas damped . Leg = on 5 naan ee + va at: a S(sh2apton) § Cstun” 8 "ton Gton eben TeleT — case() ; &7 4 ayerdampedl _ 2 a — SC 9+ Sain Wd B21) Co “egcan-t om EE v) ko a So 5 ~ pap on Tee GA) Cerganon Tee) nu - oraz — GontonJe1 + = C En OnTeeU + ao x —7¢@) = i-\we® “ rkpe 7 |fos ote | ee is Grey) Calg Responee) a ——— 4; & Value / Poles Locations Trapulee Responce Unit Slep tip ano 4§n : Fal - onclomped 838. pion a ‘eens ee DC iGeal e=i G74 )- e Why step unit AIP selecd 2 => the Vp ts eucldenm Gheamgy t=o chee | | poo ve oy —|-r0mn perSorn Complel emalyers ak ele obo |. xs & Practcawy extet 3 | Onloamdedt ze ls re See ee eee eee ee eee @ Ghy celected undetdamped. 2—7 SD Yad exporctas. Weegneot am @r| od SYS Oudlerg ef) ’ psn yy SBA undompecl 1g Masa biable beh boo T= &, x ia & z smnaategt H \ £0 be ts @ 3+ t9 havmy osetilatron & hovny exponential so ae select onelesclampedd , athe best wange of &. ™m grcl codes 16 foes best wange oy Se Th 3. eos time clormeun speasiantion seleciect ond ewehermpecl Syatern because tg H Select the undamped system the aise Hime TS Verad emort bik getting ttme 18 co, 19 Wa select the. cxtttcat dumpeol eyslem the Rise Ame 16 Vers laxge but the Setting 6 tme Smal, TE Selecteol the oVerconmpedl Sy. woe time large & settina olso \ Puchcay Soy ny 5+ aioe ime 2) smadte Snadtiong dtmne Th: Under damped Systm ween oblam the Mmadewo Wa makita? epatretl SNe i© To implement o a ent omy I" onder oye 22 ote system the & volue selected ' @hen &>0 & ) B41 the UNH Step 2 ep despmee a? the sys SdStemm ip eae eces)= ed He Aglevance ‘ 7 Some. ead a +54 “6 ot. DESL ie Le % shuaseal Ponder {amo H a = a ee 7 pal Gd “WA ow wm ae delay tne 8 te the-inne sespurved Sor the 8 tesponce to wee, Seem ote sue of Prmal Value 6) tmp: a AtOFe bores | Rise TIMES sh ro me semutoed Foe FESPONSS do toe From. © to 100% of the tp Sov unadesdampeat oystem = 40,357. ex etticol domp = — lo % to 804+ Eor over damped — -\ ae ee C } sec. 1 : doe = 908 C8). Peat te & ab 1s the Htme vequised Soo the Respance fo vom © +o peak Values of sysiem @ tesponce. By defauit £57 peas ont peo’ tp = SMe euinees 4et vaney — kp = 2 ed —x kp = Gy sec ¥ Peok ovewshor} § ‘ a+ 19 the chSSeeonce Lelm Hme responce peak to stady state Value Mp = tp = c CHP) CC _ ® Pexteninge oS peak overshoot * this 18 nommantzed ASSesence bel” Hime vesponte peak to steady stale Value + Mp = cGrk c@), loo" cc) 4 89 the Thput amglttude 18 chomgyes the overshoot £9 chuged : \yud the pewcomcey © of peak ovesshont 1S came, Pos etcrnple , 1S the UP ormplrtude 1S doubled the oversnoot fo double but the perscemloge- oF peak avesthout Fs Lame, (nel one e. Tree: xloo Vs Corel @y deSauth Speak) F (8 /frae) x100 et =e he Value Stiles io Peay me the URES sheet to the 1G vanes porn fo N= 2- QN8/ Tren cae Ii 8) soy 0p * Settiimy Time (te) + s the lime semurrecl Sor the wespmte to ase Sac Aglowornce, \emal Wstintia hod, Be Bb a fob = tex: 4o=at= & ko Ean’ ton 46-48 = 4 G00 Gon Ot fee =. Gs) TOT “EE, bee @ Tine pested of Osciladion 8— Time Fennsed to complet one cycle Tose = @e Sec = tp Sec. No. oF cicle Jenesased before reachrng Steacly Stee. CN) = ke C+to1r@) st) _ *S_ yo Qtp ) G The uit Sep ‘vespance oF the sysiam 15 shoarem Prg = QD pind the Saloartg Factor ps bos ko 2% 5 ke= % Fog k8= GU = lose wok ato Ta=!2 = 0.5 5eC 4 205 = Bom, : Hr crn = ecesyt F@\~eced] € +09 - } +O S 1 The soM +o the stmgor Lame Condt are aysiom 9.r [c= 3B ety econ [ecsy~¢Coo) } gle) coy = st Ne" cn = Ci-e®) © For_eyonential wise the duivadion Sox the vise time tS Jor} -to 907. oF athe Fat None os é Gaye og BEES ken ber Pe) = 2.2 [ad= Masi sed CU) =0-| CCH) =0-9 Dont veed Sar osciiiatory only Por expemttat vise 6 Respone No pears ate que: hence. na Peak time, & Peak ovewshoot ponce, of the syotert 1S shoem 1 +]. OF peak OV ex snovt (fi) todwood- Scomey oF osentad? time. GD seitlimy Arne @ ote GD) cut @& @ he omit dep TES gq. $md the goctes © GH He damping wsatio & @ delay tme © «alge ta Flb system assume Ont eck) Mp ct p= cca ov, \5 |. c ‘Coo 1:38 7180 y lov! 1.00£4 =0.33 sec dy = 0.63 Sec tov te = 21goer to. 4 Oy= SS = BUD WK wet ee Loa aa Ge) = on — Gap 5 (ot2Gon) 3 Cara (eaayCo ee) es ae wn - SHE LAOGAZ4 AT 342™ Prreanstar UG the wmpuiso Res of Unity PIb tdotem is ocd) = ke tgimut Fmd the Folloamy Paclors Jo the untt stup sespmnce. © kp O kg Car. tolenaee bona) O wechrwas Soosney @ ke © 7. Penk oyooshout => In ony 9 om, : > wespmee oy In any signet the Oxponentral powrss We Tear pew aF poles sine 6%) coo Surnnci® vag Tragjmans 1 Pact of the polesa spat, = Dee cod 3q K ton 46 =4T= 4 = 133, 9e¢ Gn = © tleec cone — 2]g=O6 & £ cl = 0. 254 sec ty = 6:59SeC hops gat: ® gind the pescerdaga oF peat: aves shat 4 the Bleeing gyotems CCS) RCs) SHO0 (oo Qs Comperat§ > 5 es) = 22 et DEtonst oot hese, Bao @ Onalo 100% cvexchoot Teams the peak omeplrtucle of the o!P SY * the Tip @.© Find the vornokione wn the S-plane pote => — QS @.t Stam o tod thon hewe % oF Pee 100% 40 O%~ IS G@XL, Y treweases » the % oF pe _-s undanmped eyo Mp emt fi-e ‘lool. = (00 g=1 ed Lip = aa sao. mat double to 4 oveschoot clecrestses Sa0r ok ovemehoot io 0 ve becuse eno peaks ase enuot TH -Yoe, Pes ponce- Poles path — a 4 j ao \ xe ~ x xa! ° ao the weak pawl t dame domnaan sgectdicos” <0 the gue 5 constamdk the feme comole t corset hence the. settiting Hime. 1S dhe poles decoction sume ca4pToot P | | : 1 Ne nie More — Scone) fs C51 fos) &S tmoaginay part 16 Mevertses the olampeat oscillations od tes x wd Tes » the me speciFicaa® tds dy) tpCLes aS the emgle @ Pes , the clampmg Toto & decseaseds ; as les J. Of HP Deg. the eystemm becomes Lees velatve sioble & Mose oserliatony. the ophmum range of *le 03 Peak ovesshout 16 S/o to 2S. I$ the pedk oesshmt ts Tore tram 2s the System ts mabe Oscillatory B tes Delative sterble 3S the peak qveschoot 18 Lesg than sx%them the system sespare S S0@, coPoles Crse. moumg fowoorcch Leh @,time Comotemt cleowease, 2 Setting time Ves . 4 uy CO ° ( ceo | NU om : chris \ _ : = (407g Gnt vA * oe Jed d= 1eO78 aero 8 nt sltghtt amp 4 — tive BS) a @d © AS Tmaginacy pastte amet the damped osemedions Gd constr hence the peak Hme 4p 15 Constant. bub theve 35 exist a olight Vatoiton tm delay 2) woe +ime. \ Jo S © as the angie Bes the darnpmg sotto & tes hence a ves Peo overshoot | eS » the system becamnes ‘more vel J Stable Rea past decide the envelope ak \holes are movmg lef}, Settllmy hme Yes, imag ~ a S ry \ , AGM par} Gd TD > hence 4d, do, 4p bes . E= Ose, O= ams» &= Gensler 5 Pook oteschont worsen dtp i Geet’) 2 eR , kg = read past-oF Pole (t) Cidade kp = rmag. past oF pole Gay Syl | G=c080 cones Ue Mp = &@osa) Cone} 7 typ const Ce ®) Find the tine domaan. spectSicatan to the given Unity Pb System aa™ Seog 1 HD! Cs#4) cups 29 con= & Bleec 8 44otIS R= 04 ; wod= Op) Hao 9.) ole =x xa = Lt 0-F Ee WE = hse ©) 6e6 a= ieee on A 0 OO occ ae So 5 kes Tos) _ TeelOD — “oa 88 dv = 0-4aneed Kp = 0-68 BC prop = 95387-@- ©) x8) ; | oy RCS) gay GSR Gn= 6 dlsec Q=0S d= 49% Tet Ad =0.99 eeC y= 0488 Ap = 6.799ec Ve Mps [647 tar k= b6 Sec The Unt Glep sespmce to “the above cyatom 1s cc) on 5 DH ye 14] = on Ld t @5'G)] C(x) = 20. AS © Vostations tm time domam epeciteations ath oto. @, Coren OS ET es Som o toi , the poles Moves toqasds the Left % Nene +5 the veal as 1m HIS COde } C1 Time cmélard decoaas (8) setting time decrease Gi) damped. oseniadn 1 © 08 wd Les ds dh Ap tes 5% af peak overshot Les +, the system become move gelasely Slable ,Se ry deutaton of oip Seom -the up tbe exioy od Sleady slle ad 4c eso = OM ey = ums ECS) at S-r0 ° e g= tk Re) 3-0 Va ee _ 1 — Roo) +4 Go) ec) =f RCS)) li ae | The steady stake esrur cleponcs on two Pactow © type of IP @® type oF system The Steady glale exease abe Caleutated to only clseol Loop skepidy Sioble syotom Sos Unolable system the steaoly Side. ITS 15 co , Jos mY HP » the sleady state emposs ATE Coley We! - “40 only rita Slb System, to get the steady Stuke Ossuss fos Tun ontty Slb system Et shoutd be convestesl mo unity Sib,sfiolie TuPE OF TIP a, 43 Romo pasabolte Zp wh aucp A+.) AR ye Ess oe ae - ig I+ Kp kN ‘Ko . kp = poston esos ky= Veloctly Saw Essor P ce ane constant exe08 Const e cent Lb ; IOS cans ceo HO) t+ Gace) i: 8-0 S09 874105) @Mrpe F system? the slandasd form of clgystem cdescmbe Tn Tesms OS oF OF Untty Flb system NE) = KCiHSTti CitSt2)--- Wee =] yee emacs Chica t oh (it 8t 0) Citstb) -- - consider, the step tip © dig%sent typed OF “the Sys-eTn ee 7 = it ad SEP. ese = Kp oe mipe-0 stem tg CISTI €eg= 2 = ame _ an p= ee eta ay +k S70 Lar ee elk kCitO) Kok 2g eegeet Hc — Sins +0 S90 “s'(y +o) ; TPES Rostep —7 SS ~ Hk Type = tip => corel Se tape Hikamp? cos= alk Typed BL PUT —> C89 = Tare > lip = OG type < Np => ©The steady slate esroys ave Calcuialel only Th SCases e, TaPeo & Step iP > Typs BRAMD Hips Type a pownboife TIP, vemam OAL the Cases extow may become o & yt Woy | QQ Find ‘ine steudy adc 42) ye ccs) = JOA CoH +o the given San rca) aor 442) 52 (949) Cstlo) > Mend 1 3 coe = DM ROS) ———— eee mS RS) age tatgs a 14 GCS) = (ost sett ; 5 , = tk o(®) )o ue 5 all oF E88 grt 14awe)/ S70 Te Re 92CSt 2 )Cotle) Le - 330 wre Mp 99 270-70 4 aviv F egg=b Ib system ven unlty # @ Frmd the 95 Sor “he @ tos uct) @ tos*¥OD ,® ua) Coe , nos) ) feet ey) ula) i) cies) UD GO?@® a= —_ Stn = 32($+45) (Ste) sPe(ineiei(ietisy 69 maa lupe a &) touca) ode Q) lo #-uca) <3? fo $7 uce) say Cl x) yca) 3614 £42) ucay ee ee ®©® waoe= eer Given system 1S Unotabse Ace) =! 52 (9+) (sto) . For amy t1P egg15 co 50 unetable — @¥FF Steady slaie ewor ave cutuaied only sor Sable cl Syst Not Soy vnetable cl system, Not Sox_umsratle cise J a = tq Stes” slendy erate Eevee cysenie the orion betive + Ge on then \retieu ia 2h cote te t Spobtity ‘oy USHA. “RY owtte sia.® Por the syst. shown in Sty the steady side olp 4% the ontt step tip Io 2 8 time Gmet. TIS 04 SeC > the Vanes OF kr Oko ove Gwen close. 0-4 Sec — kh RO Se RKO 5SS)= 9 C Po onlt step) Cea tmio cp mee cpa Sso0 Coo = L* cod = = Lk 6.0C8) WP k7@ Sete rr BS. = = ks Qs ub —\x 4 . S78 # and S 530 ae O+ kro -\ (WE 1 [ro= as] » for the Swen Sistem , the uUndared Freq. Ssctlladens de « sis. ) the Q=0-9 the valles GF kK Ba, DIN 8 ~ 5 ° —® cd). CCS) > Ree) Ss em | S a "6 04 Tiras f= Sp ¢ wadloee exe Sct s_ SCS42) SL = A Ris)2= & aces -K. WK Sct Nethod o + ss ole 7 Co= O08 O2tO.2K = Ook= 102 6 ye Con = tt g ate ge fek—_]. ea a! oe ca /sct| +k FEO ~ wk RG) SCHI+K OR = Te — ott o8k = | eek = = @® Steady stole ewrors 4o the drofush tip % e€oor 15 alwayS cayculttect co the Res) @) vedesasce 1/p Oto £6) Cm eG ess to the RCS) —Y l= ‘air ¢¢) ec) Le | Reo) tr nO : es) = _ RO) <= Ak og Eco) “Trout SO { | \ - all Cm sao | Pita seess clue to (5) es etsy = (f= S2 \. 006) Dla rez Gin! Coo = 5. B08) eog= Le" 5 [= 02. | ove) S08 | Han oj : 7 © oral Cag) UM ¢ fe S20 (+ Gio ) — ess to the step vp & Step chshiwbone to the given oxet | DCS) oo |e kt Lah oO RC) ge Ersew clue to ot Gres (sts) Cotecere =e So) jo es re = Te leo = Gro)Cer-+100- SG tISO (sto) (st8) ec) = _Grosts) 4 FRO g st4isetiso 9 \ egg 44 s.ecg = It © Aw) Ae)» , Y= Bae 9-70 S20 BAAS Os sa = “gt exrs due to RCS) exyss due to D5) ON Wa a TROT 6 GH 1S9h]90® Fos the system. shown in HQ KCS)= py Y9=OIP) To mune the esgect o§ NoTSe 1 the goin oF Seed reansrrel posh 1S _ ¥CS) 46 >. Dy % Feed For@ascl poth sa yg cddttonat eles pa™ white Tas ve | ad | e yntsoducedl mm ester to Beduce the esfeck oF nr 'se 16 ® distusbonce ,. © Cote) STAB YO a FO NO Hg ye OBO SGSB)CH dyeto NCS) wis —-— \e eC csteD ay Gise(S) = ——— Sore) Cot Steady state ewor ase calcuatel fo oniy Ontly PIb System 1S mon Onlty Slb ey. 1S JWen tt convested Mto Unity PIb Sys OS Pollows *. Rts) __ To get the type Yosdexof — aay t—- aco) Non onity Pl sustem vequult Gets) te Gers = ne ic ro Equivalent ofp of a Non ony Pl SYS Ftd the Coy So the gNen Non Undty = ib suctem fo the HF _nt Glep tio= ccs) : Method & 4 0 Gels) al 100 : S++ [sS'+90 9 +100 -190(st8), i Gets) = _loo Csts) _ S3+15S7-S0S- 100 Geta = lO SCstts)+ Poe tetnod 2% Showt Gut IS BD @ Sk @® cite @ Now untly Pl b system 1 Sten ccs) egg = [ )-cca] eis = Lt noi se) karo ~ : & [Res Cs) | esq = eo 5. RCA (i= etre] = Sk 5 RCS) [\-cure)} ots) 7 looC StS) cee J, 53 +1682 +505 T1900 cue = > = La af too (84S) aay |e ers ce ti0) ae eso = 7 gemasens ERT age sae eto \ = 2 = $ aa. kar ‘Sto luty a + tim dmeas Et Time Invastarg System 15 Said FF-Soll- to be Stable 1F Sailsrmny the Pollocsing cond iHon UF A I ' roy | ? TS the Ip te Sgunded , the o1p Shourel be boumaled 1% the the Up Ie etem to the system 1S Zew teojp ust be o 5 Wwreeeecttve of tr GU the mal comer The Stabirty ase opesodtng concli tron 6 clusstHiec wo 9 Gays - bewsed on @ \meas ‘Tre Invaxtaw eysiem Jo saicl to be Mavgimat soble. 13 goo the bounded NP the o|p Namtoms the constant amplttucle 9 Ssequency oF osaliadtons “3 the Mon- vepeated poles on Jar-auS sives the constard-amplttud B Prequency of osetiiattons the SYstem becomes Marginal sta Relaine stabrtty s The welatve stablity concep? To appltarb'e q only CL stable Syere™m “ hist eras Ldcadion = (Yc) “I> gy ZLoakh 20 + | ohBs Ro Concept ,coe Can Fd eystem hme consterd , wae & me tenuised to veach steady State setting )_RH_cettesio, & sposesTe Hind the lowe i i To Pmo the Ho eo ek on f@- axts oS the S-plane ch leap peice m the lest » -7 The main abjecive of RH- Gattexta. 1S fo Sol the ho. oF Poles n the viyhd oF S- plone Gi} qo end He Tonge oF k Value Soy closed loop System Stab ty {iv} To Fincl the vatue of k , To be come the system Maytnal Stave. @s) undoped system. ivy Toftnd the Natuvat Srequency undormpeck Frequency 03 OSciiladtons a QW To pmd the velahve slaktitty by usmg RE Concept Ge com Sind 8 constant. setting tme 8 #me. sroquived 1p -remds Steady state - Jp pind he CL Slabiity by omg RA ceiteria ; veaulved Shawsactesistics ed he. 14 GW =0 ) Ghese as th TemaMn alt stobitity technique sequived olTR ofa Onity @&) non Unthy Sib system. OO AKC DUTP of Gundy @) Non uA Pls Sxbben3 the nth oxdey genewat Soom oP chavaclensttcs ed? 15 a hy vA wT1-2 m4 ° 5 ° Qs +455 4. 4On1 9 ' + aqs°= 0 us 1 S" | a Ge Oy Yre Condition's Sor syste peer _ : Stab ity Ove 7 . - Q) AN the coeS3ecteniS m the Gata 88S = ByEt Comm have some el eign. g) ro CoesSectent Shout be zevo the Host cotun 7 Ca) Im omy argn-chomge Tr Sis} colun toe syotem 1 UNeidble > the no- oF 6g changes in the Stet Colum = No. OF poles Tn wgh side. ‘ e @) heck she. Stability to tne Satoaxng chasactesieshc ectn —~@O sS° @ oes ® STHegt tome @ 834+95%+45+ lb=o ech + ast b=o x [ot ve abro O46 soe M5 osttbsteso ——--—» Gas, a,c 70 @) —xh> 2) ay Cobicd 7° @) $0.0 Ever pure OF S-tetms= 6 abs BS yia c Cone Jal ele" JAH st] b d 4 5) }bc-ad oo Oa [beret] > © a ete [BR <0 GB cad ye cL OS), (ew Toms > > be=ad —, 6, & © d+ 4927 495+ to=6 s+ gers as olka ; & +32 =0 fs) Ly f00—» gs*+ 39 <0 7 s= 402 w= 9 adi Se 2) Find the no- of poles SE, oh+agSt as*+4ors = 9. styn changes ©) 2 poles RW s-plme | | 2 poles LA s-rlane | \ 3 y oF 2X Sf, No sign chang. ea (SO 1 909 © or No poles Th the RY a A ‘ 6 | \ No poles tr the fh) VA san chase: @ St ast a8'hastE= 6 9 a pews gf [4 2 8 Pole@ tm RH S-Plone: oy | a 4 9 voles ™M LH S-Aane!: 34 € . : e : E , aged & e-zt os) PET eee ae e \ asAb _ANSSioulty 4: TS ay one clemend ts 0 Mm the Sivst Column ‘sepia, © by smanest positive convient C&) & connue the RH- SasHy » Smosty bub & check the No. oF chang Syn By Replacmg o by & the posttton of snot the veglon of “the Poles @ 634 shrasts ast 904 1 = & | 2 4 @ 5st 4 3S 1642 =0 of | \ 2 Is | 3 {i * > sd [pt 7 \ch 3g* 08" 9 emaiiasy a 2 sate is 68 ee ey cae = 3! Cee Ses ome V1 3 \ (9) [8% 8S ja Diz adtes'=0 : 39 ( Soofs oF Arpunary eof? wee ee eee S4-+35%498 =O Bb sot O. So4t5 AT ASSHUMY 22 Whenever Th the Routh Esta est= 0 tobules Sosm the wow oF 0 OCcuss ae i dhern we Tequived +o Stim the canllany eq? by using oles othe Sow of rem wessectent & divseverdiade the awutayy em 2) ‘eplace zews hy the coes$ectents oF ch3Serental quatllasy eh 9 continue the Routh etobt ly - 2 the Tow aF Ze Ochs In uth Sabulae Form is ano MeS sym ettst c -—7 the quuljan eM cmaiet only even power of S terms y the wnts oF — urxillay eG Mothing but ob Poles, which ave Symmertstcal about osigin ¥ Wheneves widy CRs He WS, E uw the Coess mm the Sash courmn sing Some sign then the system Is Masgmany Stable becz the 2 poles Mist des on Lmagtnay @hich ase on ‘vepecd ed) KONOTE. the sign change cccus belccs ye aullasy ed? aovst have GQ eymmnttcat pole m the LeS+ fo the plore Pole placed mm aight - The sign chamye Occurs Ubove ABN Thelre 15 ho Sy%M sole the ple to the LeSt+ to -the pole placed m the %yht. ws | su —~—7 AK A poles stv Got OMtgih wa pos s? | 0 Oo Ok ROR 2 5° | * oom =I Vo) yarye Zoi 3 charg) C - g 42 ann roost Pole ae (© poles symmre about ovgin e 4 J |@) s%&4 $+ 48% +6574 65% 4 36+ 2=0 sé A sg? 7 Lon fh - a f mea? elas FEE Oat 2 ~ HN) 3 | ¢ —»_4 + rea strasttiso SEO ae | satiyts oe On 2S sepa 6 ” , | E9. [ Repetatve -Veo? poles) } foe ae tt. s 3 pd hs jhepeves Mmomy mes THO oF © occuss B av. the coedficiond S tn the Steet Colm owe +Ve then the system Ie Unetable hecoz, the poles Trist Nes On tmaginasy abich ase aepecdecl Frid the no-aF pies in Right ade oF S-phne : g! 94+ 99-3-| =0 Sty = G-i) Cot) =o Ley Salsa 2) sxmm about ostemnin - one pole RUSQ . fdentSy the Pouwth tebulas foam to the given Poles iscatton Mm the s- plane BY) ae C4 Ponder) 4A oe a r4$ i! ' ' beest Symra pole tn the tH do he pole places M the pH (gt og Ig” ——+ae (4%) wh a 4Roz ef. Ce) (S21) =o 2, Cat) =o 7 | RSL 2 xt )ooe7 5 Sistysi =o cog 7aRoe —. grok eco? 3% 5 4) go> ae C2 yu > 1807, 1 cE, Coe)3=0 a aa CE pasty eer l=O . : griate=% ha \s 56 s§ 89 pb D> 3S Ro, 3s |e af ae 5° stf Go ee foes || ; ee | Siro 10 = 2 sign chy e ~ x | below ae x ® Identt$y the no:0F-poteS Ir the RHS,LHS & Tmog navy axis oh the s-plane to the gen sample Rowth tabulay form —+ ae GS osdey 1-¢ 6 poles symmbtc 2 oot gin. : @—o-—o-— 1 ROT. Shout cots aero _oy this wong oo 2 ROR, becoz onl + L 4e0 poles Do - . , Sofa ») two Himes sign changes yg | Oe s @ ber 5 + below quatltaty eqn eer Frat meons +o poles ght I Stmmbical pole Lest he 9 weGnIO? > i : ores pe a. Poles RH Oe: BBO oak ‘ Sn oe 5 4 pales aiemehic. OK * +N 105 Sana 4*osdes neon one ret t YY 2s eg YY er -ypotes cre not wepeaded * ? \ L gt |tNe i . ; e \ yo sign chang belee a s} Le 6. poles RM E ave [-s° [7 poled tH \® Find the tonge oF k Value Soy system Stabity | poy ven eqr sotes +454 k= 0 mM vatue OF k Sox even Poors The K Masgmnal Value 18 obtaln From odd powe’s oF S fowes wows . 8 so +Ra°+45t K=O k7O 6 ox @7 0 6 50 °|k IGo> BK k= [60 #0. k <1¢0 oS ky — (K=T6o J Por Nasging Stable *@ Velemine k 6 b Vaes So that the system Gics) wes Cst 5 venty oF Gite) Hee) = Sears osctilates @ith a Srequenty S 2. wad\ sec —- @n= 2 Tod | Sec. Osatiiahng arth Ivad} sec ‘Meons Phe system Toust be TMarginy Stable. ~ SB, IFGONE HO LEE St + beth go ttksth=o st BAK) ; | ape > bs (et=0 hwo 68? 4b += SPH Lg Gt b= s° 6 i 62 selon© Fivd the wange oF k value Ro —> OS) = Rcs) —— = C5) CER oR otk —G “ Stke =o Sy yg S keg k-370 iC] “es (k7 3) d Feo kyo Py| 2 ce RCS) - Cstay* a =} cup = OK CBs) RC) Cote? + K-2) Ce on S?CeH + 944k) + Carak)=9 s* Cty anak bang 7 BP ix . 8! | &he)20o® (o~ 4g CKD? VO : S [Gt 7o®_, Dx ® (i) Relative sTabtity the Relaive stabtity TS only appleasle Only Fas CL” stable con a = 3) A system has ol ne en orttesta detewmme 5 yelative SiakNty about s=~| RD i : = \ they Hie tme con ? Dat Secs A constant 754 6 Ad bec,2 Cor) (st S Gcs) 3% Prt ing (6. 7 7 we - 7G) Gi) + IG t2=0 120= Stl @let) = oe SS 5 — ~ Ga) @) GN FI>=0 > lec LP, 2b xt9=0 Zo {4 ig - “ea changes tle 2 | GE _ y | oC a 2 poles bla s=0 G-! \ S=(ztaxts six ol cee ee Locedton QC \o 1 pole LHg S=-I S= {rR} tr a RS my TO < ry RvS——> > 4 Seg} Rm. Conen D4 Fey c= {SE} lawttadtons of RH CrHtevIA 3 @ By vsmg RH cates. We Com net Fd Idenkdy the nodTer Poles can Tat System, becoz the exact tecaton of determines @) the RH cattedia 1g mot applicable For exponentrak sthe, Cos} tem ‘becag IF GWes Tadinite Sewies NoTe & ——~ By womg RH ctHevia Ge can md Opprmuimee olutton to the. exponent at temm.@ Find the sange oF k Vosue to sIveh teanSpostion dele a sysiem . Go) = KE » ness! SCotl) , pegleck \agher 0 Fenn ~~ wey = _KCst) sCotl) tk-K-3t =O S sti) et CK) EK =U 6g” O° +9CI-KT) oh \ k 3! I¢-kd 7o® kyl lkyro® kts KANTRost Locus By Puspose’. 7) ny i> To Pmd Value -b become the syd Mesgin os Stable MY te umd the noth Faqnes GE) Unclear Feancy OF geting > To Find the k Vaiwe to become the system are eer underdamped | caitcat Agmpeal 3) Overclamped syeteyn . Vt) To Pind the welatve stolity 1g the vool Locus branches Moving fowavdS ‘the wight the gyst 1S legs Telative Stab I$ the ~wot Locus bsanches axe moving Lest the Sus - Umese selaiive Stable. the best method to Fmd Relative stably 18 got locus The best Method to Find absohite Stabtinty 1S Ba cHtfenta - Des" Root Locus [ root eqns voots oF chars.eq™ which ase. — Cattech Cl poles] Locus Mess path, Root Locus Heoms Closed Loop Pash by vow) k Ssom 0 tow. @@© Draw the woot cus RO), ccs sa, & + oe ) lvacng scot LocuS 19 Nothing bud Vdenh Stcat™ oF Closecl Loop puth which te Gwen by cha-eq? [+ GC) =O JR vole Pole Locos yeio wel | K=O -O. we rung ae || cE Stkeo “sf 7° RLdrgin Ch pole ata A a Sr [0 foo) ce — = see oO CE (+k og ia S$as Hevease ome no \ - mreveases Smdmg the coors Sov Cha eqn 1% sew disscuts hence we Can ot divas a Root Locus dragagm by using Chay. eqh To dvaw Ri dtag, Ge use oltp of a Untty @) Twn Unity S1b Sys (Orca Kos) = 1) Relattonship bla OLTF Poles & zeros &) CLTF Poles OLIF He) = kK Nos) _— ae Gs) HE) res oO The close Loops PoleS ave Sven by chay. eqn [+ GCs) Hts) =O suber tating > c&_, I+ Gnd) =0 oure > praeo OLTF Ze70S | NCO) =O ce nse —s IE TS 8, DM) +k NCS) =O The closed \oop poles one nortany but the Sum af OL poles 7 awtth the Suncton of syste -gain k Open Loop Zero Cotes reHo s § cohen K=O CL Notamny br OL QL pleS h@Gt) = 1K, i SL poles ot ZED 5) I axe ae oLte 7 ob pole “Ty ae OL peie =>-! Noy ce —» |r ou Stk = Yo Means ob pole a noting bud Cl. pole! 7 at pole =-]* case CID KE tO othe cl poles MevhmMg LUE"BL Zeang When k= +o —F then CL poles 65 a8 woot Locus aT utvcchon bdecide by vange of k yalue but not toot LOCUS diaguc 3$ Kk? Gam 40) the direction 18 “ew 40 Pole y-> IS Kt Fror_o-fo oo then direction oF Root Locus beach. 45 Open Loop pole fo open Lop_zere becox ak 0 oper Loop Pole : K=0 & open Loop “ev Leos ope Ol zex6, re 8 1 K=00 ; kCet! } ©. Wenhsy obese the RL branch Start H end For GOHO= SG — Stasis =r §=05-S5-10 y —— OL poles (h= 0) 5= 09°53 © DeSout jake ~ve 31k y * Desaut Kevt ol » 26. ot 2e00§ Ck= os) “PF S=~1 EI oy \ daveetn depend on agymptode : angle, > To diam the RL diag, No.of paes must be equal ty no- oF Zex ) —_eo Se TTT » beeen “wot Lecus branch turk at pole 8 end ad Zer0, ys Fos one pole neeck one Zeyo, IF Zew!s ate Less assumed at oo; chrrecon 08 co gen by angle of AsymptedeAnale ond Magritude @ondiion tahis "? ® cl system Stability The closed Loop Poles Path gtven by Chay eqh \4G4=O CE 4 acd Hes) =O C-ve FB) case() So 1 sy Core’, Aw NCS) = + Kf NCS) m4 (k (he des) |= or = £80? —~z DRL| (8c? Rules = = SHO ack De®) Gud odd ymuritpies oF + 10° ao ( ¢ € —k Ce) ; C Ww = Th ‘ case GAC) HES - e rNCS)\ao ea ( pce) NCOY a 45°) “Lesl Ret Locus = \+Jo 0° —» Inverse oe (x GB SOP CRL , O° Ruleseet Aon Rules For RL. Rue iy symmeftical & Fhe BLO 15 symmetrical about the Reat aus heemse the locaton of the voles & Zes0s inthe S-plane symmetrical Real al RLD BP NP 1 $B GU be = Semig The eywmetsy not clép ony depends on poles oF ZewWS , It depen © graph Sheet on Bhch Jruph 1s cosinictecl > the kode plots ave not syrnimtyteat About the TedL aus becoz, tH 1s drawn on Non-lmeay Jyuph Shee+ CSemilog Sheet) — The NP owe symmtbPcal about the weal axUS Ruled? No oF RL brmches @ Loci The no. 63 RL branches depend OP NO OF poles Y zews Case (1) Nu. OF poleS 7 evo —? No. OF Loci= P Case Cit) NodsPoles < Zeso—y NO.oF Locl= Z | eS —51 | =) (ives _s\ sox ob Be | ROLE Gy: Real ants RL branches RL Ri begnen | RL w — ee an joo myc KO \ ° | , \ soec a Sum oF the poles - ) +e the otaht > zems (Criz)) to tre aight hand ste od thet pong shoutdl e opd The poles only moves caly on Toot locus oruncnes, once the puied zeuples the zero , then become a complet branch Sox that ssttculay pole, hen kK 1S ted St0m 0 tw >ROBLEM © k Cot) 648) aAenpdy the Real axis RLbsanches to the sien GH = ops) > Reat axts RL bromch wT RCo ne) A » Tdenttsy the Ponocomg pom ahicheves ot RL te the given Suslem Gis)Hco) = a — “g2.C sta) any C34) Cote) - So aa slo © St @s=%2 Ose Osea GIS OK” ) e O87) @ Sasol S4os+2= 0© The woot locus dragtinn which te conetouctedl hy usmna Lege angle ys caued disect woot locus C Dav) — DRL @) isc® Rules dragram Othe wert inne dingenin cahtch ts Constoucte } tnvetse _yeok Locus @& Conpitmend ary oot PRL TR @) om _, EVEN Celadinert) AH 2444 —> 294 C Pommulod (RS) leo? Purpose of DRL& sep Ci) Amale Omron) gy Lb _ tk . ge LS Tee) Less) LG =e Be ee 3 ce pets ae SoitsSy re © Gaven Pt on py step (a) yg. cond” | Ge) = ae » ss~st]s \ X¥___—\=1 v\ calle sys) CSUSt") \ = aA SCs |e caysS constiucl 53 RVEC) symmettical The RLD IS symmetsicat about the Reat axe becouse he locaton of the oles & 4evos in. the S-plane symmetuca. chou the Real ons. 9 ~ “4 “ 7 & Real gris RLD | ae on V— Semigg (On The symmety not clép only depends on poles Or ZeDS , It ceper On graph Sheet on WruUch Jraph 16 constouctecl the bade plots ase not symmtstcat about the Teal axts becoz tt ts drawn on Nen-Lmeay Jyaph sheet CSemilog Sheed) 5 The Np ose symmicat about the “eoULth Ss * Oe Rule2? No. oS RL bomches @ Loct Cols SEU ) the no.o3 RL branches clepend on no: GF poles & zews » Case (1) Nu. oF poleS 7 esd —¥ No. oF loci= p Case Cit} NodkPo'es 4 Zeo—y NO-OF Loc] = Z ROLE G = Real arts at branches RL RL opener fee | oddh no 0 poe ONY CENT ee Tee , eemen KBr 0 JO4 Oi~«8 a to edst on Real atl RL branch the Bum 43 the poles + nt_hond stde of thet Cee) ind: shouteh be apd RA - must : Te Boies cmd mina Unis de Voor OS Uddin es . Onte the poles occuples the zeso, then become a complet branch for that pewttculay pole, Gber k 15 ted STEM o PROBLEM « k (ot) C648) > adenhdy the Realaxts rUbsanches to the sven. GH = ccopq Gis), om FD Reai arts RL byomch ie KCto a ed a 2P -S LAME ——beeeetse — k=o Keak Kew 2) TdentSy the Fouocomg pornt cohicheves o¢ RL to the given sgslew Gis) Hcey = _KOsP9st2) $2 Cst2) cst) Cote) ve a ae =H d gio @ Sa-1 @s=%2 © sX8 @ 34 Gs Ors D Sere @ s= rit) @ Se slil st+os¢2= 0 5[© + the posttion os’ each & evety Pole % ew Locum thetze 1 1 ee must eC a RL ow Cr beause the RL branch Stawt at pole & end at zevo 54 © Never apply an agrthice Cgnditton od the posttton oF po uth alt the pnies & Zeams ses or Ri beonch y the k Value ot the pole 19 4ev0 & Gd Zew TS co RULE Aad: AsHmptode © Aysstedes ae the statght tte alich are aprvoach. + the ,4eNo- oF asymptode = pz The angle @ = (294() leo 1 qsotay---- Cpt) —7 The AsymplodeS ATC Symmeisical about veal chs — the Asymptode gues the divectton of Zeros » chenthe no. oF Pole awe 7 Jess 5 RULE 4S): Centy Tr to @ mtersectton pt. oF agmptocdes On the Teal aus : a. gum of , sum of : Jes ~ 5 Cenitiode = SUm_OF Real post of poses — Reak post oF zews @x) The cenistode Tray be Locajed » MYwewe Or the Real ants ut may @ may not be om yoo Lous bench. PROBLEM | 4iy Find the angle of asymptode & centstode te the given sHstem™M. ee — Gwen, uarr.ce) = S(St8)CStl0) = %O=3 angle. 6: gm 24t¥. Yeo? _ 2" 180 =Ho=Gd- Oo Cy 3 spl a OE We —10 . is K=O Centsiode 1% Fequised to deaw the male oF AsYmprede 18 the asimptode 1S bet est then the Centstode To not vequix the Centtolte reguitedt only When the No. of asymptode 18 moye than one © aw nes) = _*CSt1? 5% (sn) roo PoleS-* S=0,0)-] sy Lesos-4 O= -10 No oF MY N= PL= o-l=2 ) ROLES 2 @veak pomt C Tunction of poles) * ak which two @H Moye poles meeree Lon La Break away pt; the pt. ak @btch the wot locus branches momng away From the pom fs catled byeakaway Point to —> the phat a@bich the soot Locus branches emlesed Mo the pomt 1S called bseaxing porns —+ ihe RL osonches eniev Ge Leaves the Teui UxIS Ulth am angie oF (z1te"/m) s wheve, nr 1s number oF poles at the breakpoint. ® Finding the existance of Break pant : Case(i) 8 whenever ony two poles ose adjuscert place. .tn be}h thelve existance a RL boanch then thetre should a ttm™ 4 break Tp bet adjucently placed poles ® kK ee —> © —_—_——— K=0 —, ¥eo SCs2) (S44) Cote) eS) CaseCit) § Whenever there exist 4W0 odsucently 4° ews , sm bet therre extet RL branch then thelre should be mim” one. beak pt.in bef adjucenti4 placed zeros © KC$ta) Cota) Sh ae‘ Case(MS \henever thewe exist a left Host xexo, to the Lest moet ade of that Zexd > thelre edsta RL Branch, then there should be the one Mtn™ 4 Bp to the Lest mc ticle 2 thed 7ema, mhen the no f Poles ate aveute: than zev0_only a k¢st2) (5+4) ss 3° Gicey HG) = pra ony 28209) never thelte extat Led Most etde pole of thet pole, Yrerce extot a RL branch then +herre, shouich be G min™ 4 BP to ; i ‘ the Lept most etde 03 that poles @bhen the no. oF poles ave Le alle Wee Less +han_2e00 OMI}, +his Case practically ave Not occuss Anam 480 4 nee econ Cont SyStem Ase La pass Stew , the means no- oF poles must be greater than Zews only.& posceduse to Prd the loath of bo exit Port bl se Sr sed Cy) Reattange the a 2 egM iN Porm oF k= - RCS) ‘al G@€ to. S and Hake tt equa 200 De ats of se =o SiveS the valtcl & Mattel BP.Sox valid BF the k vaiue m step@ The vaucl BP must be @® RL bromcn @) Find the locotr of BP GiCs) Hes) = ater) mS} HC) = —K . scota) SUE ie NX SP dk eke 7 > ica o-@sta)() =o ~ V2.6 SS 5 Kepuce) A. ($2425) 3s 3S aa) : Ces) ° aa 9952RvLe gy ¢- Imtevsecton pomtS eth mmagmasy The wlessection pts wrth mraginny axis 16 dbloMed by th Citesia tepG) § Room the chavacteststtes edi® tep(n)'- Watte the Routh array @) Tabulas Jorm aw: Pmd the k Mawgmat Value rep CN)* Farid the Gwdllagy ead” The woofs of cruutitacy ei? gives the valtd & tvaled intersection pt. aith Tmagmary SP Poy Valtd wtessectton Pt. the k mazgrmal Vole shoud be +ve Pstem: Fmd the messechon pt awith Tmaginasy as wee ) dso the approumeade RL diagsam to the given ey. GHcs) = 5 (s+) pRocepur@: step (1) Idewhsy the Rooi Lous , Real os branchesStepGy. Find 7h ie ice pa) 2 angle oF asymplode 8 Centstode » 1 vequl zed xe we. We Pind the gage 9 axial @ cepa coteco ge tdhentsy the parh Sor he k value 2 Jasy pele An Texn cuch that ett the poles amet veucnes the Tew RL Cfagsem should be eymmebicot obout veal wdo ace — ane =e + NOs, 8 (S+2) 2 2 $=0 8 S=-2 = pene 2-0= 2 __ QP = S=-l = MEET = gf, 240° 5 ee 2 she aloare O48 te having desdanped cxitica damped : 2) undes damped natuse bat spor undamped., to get the K venues Sox Arggesenk TOUS? of tre eS - We Feautved +o Find the & Valve ay tre weenk pr by vsing magnitude Condi? A g=4 kK = COCHD pognnd . » Soa | 9¢s “ol ore K7i 37 ond ed amp Kea CD 0 the cite od the loseak pt. is @u= A = cure ott add the N¥ fexm to DY ean kK _ ke GN scony? (+2) SeO Ahh sed f_¥ a as emer] ~ _ eee B | SRaashestratestas ee eerie a> (38 (gneve) gait lag toot? aeWhen no ASYPTOTONE, Wo No cmgie oS depavmn Bp=-4 @ ans kCow2 | @ an = Oa a Gtr)7 | NO BP, NeemsHamped + NO BP eee cee) ‘ wo cenmodes N=\ 5 ) Ss)! c : -9 (0ie5) + o = ; . | | | > f ‘ Neves ~Wheneves the transSex Amel constst only poies ad osigme then 4h: RL diagram fs Nothing but angie of asymptode Lme Pos eq. k +co0 pes od ovign, N= 2 asymptode ones) — the oboe system 19 Harginally Stable Sow LL the values k7¢ an this case Ge Tequived te Make it Stable, by ackel mg a Smite zero in the boH-S 5 S (sti Fos eg @y =KOSth) = nodal) . a st Ss — Nel kom : k=O = 1k? —— _ — ie © = 180 ms ox \Bo° JB \y! poies Hes wt ovgin, vequired (na) smite = Perm mn the 1MH6 plane dy ovoid “he eS$ecl oF sys. sianinty|( qu = g=0 \ K=c Se Bp=6 N= 8 (60%) 180% Bee) | wre : ales atin Zeate ave udded’ mm the Lest oF 30? Wes = © Soplane ott - addition of poles ¢ <¥) The Root locus branches shiPMed towards Right c? s~plane the syst beaine Lees teladive stable The Rane oF k value fos syst slabrhty bes > The sist become move osctliatosy ddt of poles | hese Bw L £ T Poles -20n : . a . Bud 5 ‘ RY >t to tot — sletg Res NX =~ St : i wee 61 tag T ofS : Ke BW ‘ k—by => the addtton o3 pole Les the BW oF sist Chshes cutosé Seqng de} » asthe Bu ves Fhe Note Ts Eliminated hence the signa +o Wlse sotto ot the o!P fmpwVes > The adett” 62 pole 1 Gct 06 Lew pass srte® > cohich rmpauve the pesos mane oleady, gh eteaty sia & The addi 62 pore Yes the BW hence Risettme Moraes . 7 Led) aumcnas Turwing sty 1 UUme const Co) 7 ob soe (AAD eg 0 tie—+ the Sis Responce. become slow C dxtrtgted : &b —+ the ¢ Jes, hence the % of peak overshoot Tes, the syst Aawpthy ratte \ c eem@Me 1e95 Relative stable &) Moye oschadory @® Additfon of zesos » _ The woot Locus branches tuming towvods the Lee — the sist. become | Relative stable the Range of K Velues Ses the stablilu tes. the system become Less osciisosy - Tr addttn oF zevop tes the aw oF syst C htghes cutesy Framey) — yas the Bites the Notee entersed into the system . hence the signal to Notse Ratto at the cle Yes. (Less acurate Olp) - _ —y ag the BW tes the Rise Hme Les (su) 7 aS the RL branches Huong towards the lest trme Cons} t Yes YH setriiing time Les., the sot. {Wes Vesy quick wespon ce (avd, a5¥). —> edd” oF zeros cnothmng but adding High Pass Piles ahrch troprwv the -bearslent pergosmance. Copeed) eevee soem nes —* The damping vaito & Tes, / of peak oversha! Les, the system becme more ‘elatively stoble. PROBLEM sy =k HS +2) Ct GH Ree) Cy 495+) C54) ko - Ay y= WY) GH = (e409) (sta) SC o*ta6 ,@ a — Mi), n= — 4k _—_. EOS aS) (42) 6 Sees SPF Cotto)> one a 1 k= 20°C 9 pps) 8 Cok) iy k= a Capps iY kis o Cree) Wy kj = Og Cie) y aye Ke 9 (stest) Csta) ase =0,-4) “Ith o f= pzs4-0=4 = Te Tyepletel \ | . Bonet . Pa 4#30° Wherever the vest Locus diagram having a complex conjugate Pole 2} Yhe magnitude oF Bp 18 Svetder tham mag. oF cenhfode Hoe omgle of depastise ot complex poje 13 Less “than + 30° 8 (s%rast2) Gt) | | D on = -034 pao ° 2078wheneves the tag. oF Cenbtect 8p Less than MOg, OF venin he angie 6F depastuye ts Less than F90° 4 alos) «© a \ oto ® Ko GUNG) = oooh asta) Cot 2) ao 8=0,14}j,-0 exmme tic CUhout & / as 2\ ten cu the pote: W= P-4= 4-0 =4 \ meed ob the BP 92S ase the k value od Bp 1s ek= \xlxixl =| © an = — 5 (stpa5tl a5) Cot) Bpaa = F4= FI0° s=-ltjqos BP= @ complex pois ° 3 BP's = —o22,— ,-bel awe close to we | pdsan k —- —— CP429+418) (S42) HOG He 9S" _ I Bp=r & Complex poles | Ase Sax away Foom | Real ars | CN c laBep \ poarr oF : Complex BaP | Dd an = ——— (s*+ eottio)$ \ > ‘ —. =~ 44) = complex Pol ' e465 +10) ott6stlo tS e Ss‘ ' N= P-2= 3-058 4d ( six.) i ye LL Ses 408 a cm lsle. Rdgresh osdes tem, Pb) 9. ® Gents) = _Ke® \ 7 on = _kCrS) Cregeer SCstl) NOTES ) To dsaw the root 2 (locus dhagrern m th ne open Loop Toonases <1 sunct i the 3- fesm should net have the ~Ve_Sigm , by desald ua Co ben)an Id 2 Kt Co tree) ar WE ot zero | i a © | drwoct® IS pole to ane 20 K=@ Zeno ———— 2, | Seno ko) 0 scot) A.C. K(s4 xf, < > : ce )= yo etn SBD $ (st),Oo” —~ Na a a aA tect — wv bd = 18+ egiy a] Bd= O04 Lay Bq = leo" Loi fa= o- 4H CP) ans KOs) _ =KCet ° SD Scot) { pad f(D» ao \St45/ Stl eal) =0 =, 5-1 poe a= GaN 0 = AMR) = 20 80 =o" f G=nD ; = Be = -0 414, + 24l6 ® ee p ‘Yestatoalton To Select the ms C No rnedi#tcaitons) € = ce, |+aH=0 KCIrS) So ee, | > scsth 8, Ghrg4k-kS =O ep cee 24g=0 => S= 71 => suico =? S=4] == ce STs HO = => ce ortste-Is=9 =7 SSH =p 65 '0-S4J1-34 [Et TEL as @ oOo —_—| K|_ —— ccs) cs) O. LG 8 | req oo %} : \ wx et ote) L ———— _—_ 4 @ Kt Cobo o Oe —_ S@—\-Ks ces) a mae vt Coto a fd » OO Given * k* 19 ) Gwen ocd = oh Reet coy = ay _ Bee 4-@cs) =G ==7 \-€& Bo, cCS)= Ze itie) = isc’ RD O esisioaction CN todtdicod”) ioe wie : » . the HAMS =p Ce \~ aS) =O kao \ ce, \- (8) = © = pole. soc ccrt GEy La Kos? 5=-k” ° eaKeo FO [kt (o 100) OL te Jot pole cesett) | kK * (odo) ee =e GWer RL Eve) Gwe acs) = Repultemm | goyacs) = “ES Oe) = Sa WE, [OO =6 - \-x Ftd = 0? Card)Newstead? Cx riod rStcal) ce ay | acg=c 2b ~ (=) ey CS)Rool_Contoue \ 40 Khenever TP consist multiple pavametea by varying ac the paguweles prom o to Y dtawmy Rat locus dass 1S catted root contour Te vtue @ Root Lows chagvam the sfsvewn M the Per Lo. VRameSes Puncth the syst gain g tts peduct teamad N¥ g Semen ale the tesms Wr the Ao. DE CdenomIatoa) like @cs Hcs) = a : ise BeawraTe/ —> Not m Stel. Foxm to oo doa Rid - 8, \+ Ge) Hcs)=0 roan ce 7 =o acs) Hs), = ——_—_ ay 52+ kS rast kt 2 Ce28+2) S LC etrests) + k (st) =o a a ~ SHA. Som ty sacs RLD Gite) HCA. = SYS Gio aie (Caers : + Tex To Jel the oLte Srom chat eq? the Sus gom H poo duct Tex MM NF gy) wemoln au term Mm D®. pROBCEM : Draw the RL diag. to the SWven char eq” by considerty “kh as syst. San, 0! 05 system Jahn. £8 SMastk=o \ ee case () 7. kMas a SYst. CCM Goat Cote) i i oO const t ob feee 5 G.HCS) = Ea ae el mascoseG) a" ae sts. $am Coto ) k to Cont '0z9 WI Wik O=0 05(@)- 25(05) ust 205% =0 as? (9-2) =0FREQUENCY DoMaaN ANALYSIS i Peat 2 Sox disgevend tip Seque JA Dvawma a magnitude Plot Ge. 40 Seqncy & phase plo Obsesving the magnitude & Pras @.€. 40 Frqmey tS cated F8IMCY Responce In time clomain +heire chosevent T/p Nasladtow « Step, Tm pulse, var \ out In Frequency domain we use one Tp © Fos ony LT1 cistem 1% the Tp ts Stnusotdal the O1p also Sine lou diSverence in mag. & phase The Standasd Porm oS Ip ® olp ave as Sollows _ & a = — stp AEE bs op #] DS 8 ein(@t20) => C(4) = Axm SIn(™H4G-+—) vba oA [rod = & ws (at.te) = 6G) = Axm cos Cod 40+ 9) wea L$ ee eee «PROBLEM § e the cure of @ LIL syst. 18 <2 =) vets sind) the steady stote olp 15) smusaidal Respunte 1s 2 = £0) 2 5 = smC4 Rca Stl wh in C4) OFA, $= jo= Jt eG) one gq . 7 PGioum Lo = -4o? wie 1 g TAs) ss) © ces) ss a3) = locos 23-+45°) peo Sta = of 2 -— 9=}0 = 2) OME 8 AU Be atte wo al OTe SgCoH = lox [5s cos (ok t4s*-+ 18-425) CCH) = & Cos(adt6a-43°) 2h EN a ae. YO 7s _ aa AED ioe - CH i C08 (G4 —T/5) xcs) Core) aC) = P cos cut 13 ) SYS. pasam = & = BA = 4 cos(wtte) @O=2, = S=jw=J2 NO) La 7 xG2) Jove ™ [gre 7 $= asc) a) _ ee - me ap) §= Fe {30 408! Gis) YO) = px P= of 2-2 04m 2 tase phase atpe™ : Le — t08'(2/p)= ath Tp Compute MAG - 2P * - 4on(Go) = 13 ia eat CR EB ® regen “vam speaSication + Consides the RLC Ckt CF Low pass Silfes as Shown m Sy ce ee x ' ¢ Yue eT we) +f Sea ye |* wi (St fe= _ sf CNSo | Onclamped osci~ | 5 Gp Te sec J 50) = BE quatity Factor 4g & &|€ Seg = et ren 8 oA) + Bch @ VO ° Or Resonant Feqncy 2 The Fsequency at cluch ™max® Resonant peak > J+ 1S 0 mac" magnitude ot a-sesonant frequent the Sxancy domain spect ict? valid Shen ot. when (&245) then 0, becomes Zeno 8) Mx becomes the eo Bondatdth : 4h 15 fhe Range 03 Sxesymey od which the magnitude drop to 1/73 ~9d8 Svom the max™ Value at la Fxeqni eee, ae — aa = Gnfraetfacacraee | eee Gow) onde only a osdes | cc) iG :) —— hea LHBde lox 4 1 , _Feeancy —y To draw the Como'e+ Responce a OLTP 5 eo Bind the beg ae Te Tl He Gin Hagan, 1 Givin Cavss 2 Feegncy phase cwpeseley Srequency + Te ds Find the peledtve Stabtity 19 the Gim g Pr 1s Vex Vows losge then the syst. 1S Move Relative Stable, Fe but the Susy esponce 18 slow: TF the Git B PM TS Vem Smart then +he ei become less Reledtve stable byt the Stet Respence becomes MAGVE. OSctilorory - athe optim wange of Gmis sdbtotoda & pits 3h to 4c » the Bode plod eonsiot 100 plots A Magnitude plot Ww db 411) Phage plot Ga= \0G1 —7 Deade _apecane — Gas 2@I—roctove te times | 90 leg le = 201092 cChanye ™ pee i 9098 fdeade <—7 6 ABlociove = 5 O-4 4 'p 4 PROCEDURE 6 hep ( —& Replaced by Jar ‘40 Convert to Srequency dlomallh rombo de wyette The Mognthale 2 con’ oy " cs) the Hagdtwe m d@ twas © +8 6 | G Qa) He |a amay post | CB ete the phase angle by usmng p-ten' ( payt J & Vasy the @ From tent" do Max” value & deaw the Magri 2 phase, plot 3.4 Gites) =k 1} 9-Repluced by gu =? CIA HGE) =k mK Man dB log ik yo) " 20 le aS paw She= Am _ 6 daldee me Actes) log ———+ (03) § = LOM EJa) = LCkt0) = ton (1K) = 0° 7 K=1 = Mind w= 0 Myda= 2 . ™m 0 109 k k=1 (19 = HmdB= Dodn, oie 41 (ol) = mda =—20d8 amd Lg wi ase OL Kh ea SHseT Ge of pT Sh KAI_N pole at ov TgTn Wheneves Tp. Constste of poles a) zemS a! oxtgin then the hag Unde Plot Stast Oth a MagMiude of oppostie sign of the slope ot a Sequency oF O.1, % tH Shoutl be passes thrown.” 2 dB Lune © Intersect af D=4 BY extemted upto o IF mo Comes Psequency orusd Ve Zeso ak ostgin = -s Boe Ree Sey Shope Gia Hi = 3" Host = ode SSO nan & (Jo) Ajo) = 8Q0) n= (oy ‘mn dB =+ oon 104) S= dM — +agn del de. aij ———— ba Lie) 2% tres = (F307)co Pole od osigin, w ~~ ee 20X10 Ke 46) e102 i MODES th = -900 de Gey Mi = lee cst ie $240 4 cas s30 — _leo @ GHC) = ie ON Oa d0On ~ N= Finite ae asimptode 68) approx Ahalis1s Q) GH) = =n ’ ; + a Csttl) cage C1). GT <1, Nedlec om), 5 Saqe \ Maeym = > 2onleg | =o de =ode” & Qe) = Gort” sbpe = OM = olMfelec al toga ————— 7 Magmtude = . Li _ no (od ost ar _ case (11). OT I> Nesle C) apande ———=+(8» =~don Li : es 03 (I@or “| r) Magtm = 207 log Cat) oe =n Nasim = - aon log @) = 20n [9 te .. dM Shee es Frog * _20n seldec Comer F Seequen cy s— mene enen ‘ak hich the stove are chanorg From one Level tk The Frequenct the cones Feanoy nothing but Fintte Joes 8 Fimte Ze . ragnnde- vocatfon iN the uwEwvors In the plot -g¢.sen S08 § exe} = Lat ~ {hu = plot The achat Value to cbiamedl Ssom the Gwen TR & asymptote = Jolue 1s obtained From the given Ape plot, Magnitude PLOT ~ Ever at coer Ssequency t.e w = is equal to acho value © w= VT Subsisact “Mastm- Sproat oF pene pee = =e = Ih w='It = —m-o= —onde , phos e plot 7 (eg ce} =(4 eee et | o= SY u ome { asn-o = ~4gn¢ the wovors at couney Fseytensy max”. the errow Symmenicatry @rth yeopect to Comes Frequency . n- Satie Zesos : Mh GCs) = Cott!) * S-Ja G. Ho) = Cac)" TN i (tear) Aw de } = Wn bg” achat + don fqSl Ges Hes) = _lo (84s) aaa gosta) Cs+ x. SA jw vas @ (Qt Gay =_2O ats)? “\3 “ Joa( gusta) Ciatio) » the mat slope of the plot Stven by, Poles B Zzem& locotesl ct oxtam . me “A pole ak oxfgin ‘means pital slope = — 90 cdlalelec“IC8) Cs) = Go we —— — —p—-L-~ ; a too Ben St ey a a “age | pe 7° | on deldec | 14 — ‘ The staring nagnttucle decide ot osm | hen k= 4 "sia = 90 log {so oF Poles @) Zeows eck onigin ] Sects on a6 O=0.01 =7 2le4bci)=- % = Vegs) = Leo lof Guat - Booty > r0l4( i) by the no- oF poles & zewscst ic 5a) (+5 feo)? (0*5%0)° *(i+shn) *° a. renee S (1 +H, a (ra) Vir: t Sfs)\(| ~ 20 tea(...) nef ('5/eey” wy) = 96 ley (0-01) +4048 -sedbld& (oecepe |= [3 spe] ~ Cote) 8 6) -e® a ©) Tfen8 @ o@« @® © $ Ep ee Sto ik 7% ( ' a fe (vshaia(vsion =m)" 6sup &. ae fas P -2300 |eoKanx-20= ~200 (R20 G20)= T40 >} tron yox Cao) = “800 | gox (420) = leo | Yoox Can) = 72000 Ns0%%@ <= $060 4ooo‘ Notes +, : HNOTES To get the Slope oF the hne Leth two fsetuencies $80m Bito 2 , consider oli the terms tm the TR. upto covney Sveancy Gi only B comb the no.af pies B zeros pty G1 & Sef the Resultant slope, 4 3g mina ty Suos iN oot 3p Ise he ay F202 -EF49) ADOr2 to 4 Or20 + 2 oth <1 720@ write the te te the Aven asymptotic mag. plot of @ ww” phase syste . 2 “40-0 = G8 *Opokes tm dB 30? cg eee — as, dgldec mo i 760 dajdlec es -40-628) = C59) = ‘ROCEDORE % 1) obaeate the Inifal, slope @hich gives the poles & Zeros at alr cos ~90-CA9)= +490 gay Fmd change tn slope a cach & every cosney Ssequency 4g the chayge Th Slope Is Ve consider the Finalfe fer: 1% the chonge m Slope =ve then consicey the nite Ry 8 Fmd are k volte by eee ee Svemency mito ce 2M Nea NO Poles, No Zem0S Cy ovtgm « (sng ‘Goa ' vesect NeglecT « Go = 90 lyk — 4 103 [ia (aah 90 log [pe Q=ol an 8 | ss Lon)? 40 = 20 logk ‘ 0 Neglect Q = \oykAES Set the k Value Compose the cones Ssequency ott the Sveyuency where @e knows the moqnitude, 12 the Grmev Frequency 1s Greates than © emat tr (7) the fq Ghese Ge krows the magnitude then r€ neglect +> comey Faqney while Sindmg the | ‘k UK Value Pp 2G © gol = KE aro) “Crete? © Naas DEC Heian)? Crashed (oe SisiP 7 oo = 20 leh © to fogs’ ® — of = 26 lk -\ = (oakaoa 40? —804190 = 446 = Od 204+80=|00, = Sn _ kia * ay? 4580)” Claco = % logk— Go leg gr gologk= 26 10g 24 ,=o=B8 + wd joke 088 EXC) wns 16 Or1> oe Sole-40-6P) oa a= SKOTS/E Cit 82) Fj0) _-ae dg|dec A 1a on 58439) = ‘(52 nds ® gym eee ciewldac Gite ke 24 Jorat= 20K 24 | = a0legs+” hog “eee (701 by Loy | 8 Ae = ao kie 24 lero. \= 20815 . C4 Fac leak = Pa 15 KR - ® 49808 24 | os ° a Gans Kir s/o) _ eae] \ 24\ = ao logis + soft wel ae ay + 24 = 210 log kt W10gD 4a = an J@, PM OTe smd ~]eq0.1 5 ! a 2-20 = -20 = —{6 _ ae eras ®@ : : cot Ke) = Ae . mG) = \+ 9] ot Gut = BCU) — os, eG) sa 8 (itsls) (iv8h0) toy Gi-lgon =” i Q C\lw=a. @ sla Oe _ = Gl = le P= 25) Ser/ & 99 = 10 (oy X 6 Jean 23 —— » eat | @ lo=a = 25109662 c 06 py k= lo P24 \2 = 06 losk _ ire a4 ® Core = 90 9k ooh 20 [04 Jy : negle 26 lO9k - 9 (095 + 26 1092S) 6 = 28 logk ~20 15 (SAS 2 12 = 26 logk G K=lo°ay Gz@ Fmd oir We &8 nag Cc > em sansye Y . 1 ® aug nt ted & Pex Sincton - _&1 408 - . wgp = ze | Jog B 10969 | (og g-lo9@) = 2"! =40 . = 4 109 1 a5 \o98 ae Ha: Sh) \45]2) (145/40 5 (18h) (14940) ng 24-1“ (261 jogo. -103 | 3 Ae sola Le Dol ogke Ie Bes [Re soe sh G=| Bo.\9,= 20 'AK ED& The te +o the 9Wen ASumpPtotte mag. plot a a mm ( Phase system 19 f i on™ (fe) Gu = | AL bsloctee Tk < 7 se) ) ott a BBpUed = a 7 £ (wo) at ~ (it Sane 50) 65 =-90 = GD) 08 61 angi) Ox (OmaEL 8 8) OF (435/51 S=Ft @ Foy exponentio® term Nagmtude 1S Same. No change tn Magntiwl ; Piet only change Im Phase Plot. For Mag. plot obsewe TF 2) ( Fox phase plot G Ymmmum. phase syst 7 evenlthing 1S considey on L-H.S ‘ SIGSSSTEET GN oe the System Stem f Y rim phase Syst Cues) 8 @ system < fn ckgch au the Pmite poles. Prtte Zems, [tes m the LHe GF S- Plane then 18 ¢ > the fimtmam phase ee Jes the phase angie. off Dx] GQ B=e vere = (2) x9? q @sm = (a-f) xX c=. 8 | aa mae<2) @LL Pass sustem. A sysi. In cohtch Zesos tm the &tghk Poles m the Lest, which ave symmebicot abatt xm _ ees Smagqnaay ox cual Al the phase onsle vastes bel then tts catted all pe ee FPG ames Hamre 2 aus (2-H) ay taste p= Leo Gt) Fast: gr , $87 Non tin phase sys ' Enns @ syst. tm catch One G) Move Zevos ™M the wight oF S-p) Gnd one G) Move mies mh the Wyk ar s- plane & bsth poles! Zem's ase wah o§ S-plome 16 cauecl the Non pe phas sist ey the wipe should gives the Lasgeot +Ve angle at W=0 © Move G¥e) OMgle ak @=ce. — 1s) potoaty 7 Zev m the R-HS 0-8 KOK pO wpa Cot) Ces) C34) (348) npg = Cath Ce, Cora) Cas) Cots) CS GY aoe & 4 NMS 15 Notting but the prochichaF MPS BW APS & stem ; og Qynrs = Ynps ~ Peurs .ty @atenhey the curve @)B,¢ fo the Swen phase plot iA $ a B Cc @ Nmps mes pLps @nes AMPS ALPS © Mpg @LpS NPS (©) None | | CNN 290° BH stobrirty Condtiton : the stabtiriy cond” ove to Sd He CL syst stabtitty gtven by chavcteststic eq? ce be. Ce 14 cea ucd =o 14 Gi (ja) HYa) =o cicjey Ge) = EL4S0) | @ Qa) H Gaal = 4 Cmeay) Mognttude — WB = 20191 = odB Wye —_—— © Giom cies oves Frequency § The Jrequency at cohrch the Magnitude equat to 4 tn |Imeay » Q nde 1S cated the Gian cwssoves Frequency Coce) h = — Frese Angle 7 ey Cyadn a) = LEMIO = (go aa {hose tmss over Feeqney » Spe The freqncy at Which the Phage ongle 15 ~ko® Is cated the phase ass over Syncy, Soy phase crossover eqn, va ave low Pass Piltes hich selected —1e0* becouse eonhnl 5 e ce) Omgle.BUN OEY LUT o Twerse of Hoq-o+ phase omss overy Pregnancy fives tt GoM Mavgin GH = i [Grim _ Phin Faw gin Cpt) © [PR= he + caqaage) @=w9c Secy 8° LO ene min) a § Phar tucy QPCH HSC Gee Lone Ee @ Senso} peice cL Ls mee} {pis Si NETS the above Condittor’s ave valtd only Sar Mintmym phase Syste not Sos NPS. proments nc Hee to the gwen bode plot soe Mloje 20% Sess oh pus . xy = fom) wes pn 1 4h od8 an= Goce) ae ihech Git = tood® the stot gam 15 P= f+ L0Hfag evens d to chi Lg rand OPC aL po Z é > os °. ° a pe prt = (20-100 of _snstabtirhy \ Gooe? H9C Phase Mean Ys 2 culdtitgnad phase lag tequtsed to odd iv ihe Siry 36 . Hho sus 4n verse OF Thstabritty@) Ademhsy the slobutty : Winds awe ='s ® = © ode PP 4g 3 Si as ope pecoes not ¢ doesnot e a\t of (8) ME oo AR” ens Roh? “lope = + 20d8 Wace 7 eccle ie Cu Cos) Gpc 4 © ge i Grin’ 8) fas pe Gn= ~ sods Pr = \so®— p.90°= ~ 40"02 4§ ae ig does not ¢ VesSy ot cL@) by using ale ——» Core 6 eo 7 RH-e revi. : 12 cL ais B Unstable then p< Wpc fs Covtect- PM = 10° 990= ” af) © Wheneyey the plot maintains the Less —Ve than ~180® I ant a eee Swequency range then the svstem Is Stable, because here Go pc Sos Sas greases than. Wg Cactouy pc does hot exist but Opprorrmally @.e Gheneves the plots @® Tsanstex Sunchon mah Exact —180° oF au the Frequency ronge then the Voue oS Wpc decided by gc m tts Case Gpe= Gye the syo\. becomes margmat slable _ @ Wheneies the pict @ Te wasmtams tore, cVe, thom -L80° ok ot the Syequency vange the WS 1s ts 35 becox Wipe < @ Cachany pe does not extet but apprrtmately @). CoN BSE AIST _Tecomples pole Cod &<+) ok \ GhGe) (ers ee LéonSt on] a _ = SANE Gi) Hs) = {aca wey[in eon Jee cays ay | Sb J\- + vin dB a s |4 | ce lodelae Idec | 0° G4oS yer | aon Ale 1387 i Idec os ——— © Neosuetton G ‘ at ce | = -9omn hye) _ Co=on) ¢ : —\80" M corechon od CR = — 99 1 log (8) O= On oo cssrection depends on Seaman EF = =a | a® &. w=on ee OTE s —*" the cawechon ot comes Rresuemcy clepemol om _& Nagnitucle plot: ahese as M Phase Plot the comeciton ome 2 comes Sreouencd to -geN dependent ar & BW oe mespencen S other than Comer om & gu eee Guency the Correcton oependsy GHG) = oe (siieettee) \ Gn a 20 oe " \e Hes) = (i+ (2& e+ 2) | lon ne} | L SN n SI we) = C+ Bese) 3) Gh (90) = [reves 4 [x sy) > (Tear ea) Nnde = + o6 nbs Ocha,s* SOF % ot § + 24y AHS) = Teh, (1*5120)4 132‘POLAR PLOT a5 tous Pey uvpose 8- Zi) To dean the Svequency Responce oF Ope LooP Sunctton iy To rnd the Or syst Slaenhy value Sos Stabiitty To Pinel Hoe Relative stabil ty itr incl the Range od K WT. emd the Gin & PM 4) — —» the Swqncy Range Soo polas plot IS 0 to —cthe polos plots ol not a complet Srequency Responce plod Nyquist plot . —r the Gomplet Frequency Responce plot ive “the Srqncy RaMye for Nquist plot 1g —o to @ - © gee Hoe 'y DSaed Polas Plot. S> Jw a AGAHQS) = FO n=2, ol ane =(4ai) exe a uw 4g owlaw 0 1 one) = Gai) PE -70.909-9 -45° \ . = ey O49 8 n= 0 {Gs al Sfp —z 019 98 vole te p= = 400 (@T) : ro iSuto | (teak Penson o; SB auc = (st (ra ) er = — Te Sy Ie @HUe) = Jet 6 = tan @)— +a (0) Sco tlo ; [ange] = = dear + a2 loo Vo jn —£ oul Ot 0.1 +0? 74+ 100 | 4 —0-l4 ~~ 33 2. a an@= | sayu | Jato \ eee agar \ woePROCEDURE. 10 dyaq me a 4 This prceduye 19 not Valid 1 the [Hagmtu Be oa. “KE high Pass 44 a | ob | be iS TP consists of seg Lere CNG pout 427 ONIN Zew Gd Gayg™m 437 TF No-oS poves = No. oF LevOS Yest$y the Mlweo & Mlo=m othe proceduce 18 vaud Mozo% Moco {S'eP@ Pind the Magnitude & Phase al @=o gue arnt’ Sep Cs) Find the Hagnituce ® phase ad 6 =O cAep (3) 18 the -ve angle 18 dominated the 0" the directton of plot 1s CW - cw 49 the ave angle Ove deminoded the direct” —veanse of +he plot 1s Ach): ~B Low FREQLENCY ANAYLISIS ® Por loo PraNcy analysts observed the : L Josge th nh Vi phase angle £ the (;ve\tenn ge the chrct® cw @ if tve ton tesm 1S Josge then Acw dteect™ 7 7 st ws Vaud Sor eR. Gf o@ L-30° oe ee —> 0 6-190? By f “0 0) 5 Rettonasazation AW os x» Q-je) ot Cs) Jo(me Ce) ert) SCrtesyA+ G=0, the paar plot asympinticto the Skah} Line x= Ge 9.0 « H(s) = kK SN scott!) 2 “s(eei) Gut) ao @ n= or © Ssh So Jo \ —_—— om a Gas 4G)? “—Jor= @2 a (ort) “fs = 1 et gs a6 ~ 308 E7) Me Tosca) OUR cs sae iea) — Co &=0 o L-180° ze © = 280° i sé RedfonaliZatfon, - 7 . 7 Cfo) a, bso ae en are ~ TQ (10) (rao) ~a2 (ee) OM(Ho®) OC Han) C39) (rye) (10 aes Ox O=0— (-w +5) ° -190"MIS IGT ay —— tw dire lo1e 8 Jo Nc The addriton of each pie a oan _ax~) Shist thod poton plot by ge “Wo° “a 860° Th the cw direction A. | ods a Ss? 598 GUGe) = alot! _ set = 4 ol (ass ~jo3 aS § = ~ a90° 4 +a! Ceo) ee oe a / acy w=n 6d leo -990_g, De oe oot “ = — G90 Bonner | ae 68 fo = Cios)) Gott) c@AQod = C3a)3 w= Tod (ra) as | te tom {9 Ja wage than Fan(s) wh teG@ucs = OSH) (+a) C43) 33 fot!) (Jota) wry N= Tero — as . (4a)? < > G=O «%<-240" wee £0 as Y= ase 408 (ee 400 (wid) t 408 (ig) ———F pew _ NOTES (™ The addition of cuch Bbc Zest Ghist the ending angle by +36" ae im the acw divecton, s CHRP) Qo Mm S = * © on o o +90 a7JO = jw lo 0 b Gis) ae Meo f= tae [PF ‘Nort: Wheneves ‘the TF. Consts+ only zevo Ge) only pole od off then Toe Ppolav plot nothmy but angle L1ne . © ans) = 3% sie s total Plot Noe Ts addition of each zene ok cats shist the fehl 4 « chvectton e nthe ACW CUS bu 440° cleeseas' | 6 <<© @-ucs= s8 2D @wxn= Cot) $3 (st) aa _ eae) FIG) = Ge)? ( Jo+2) (D. Gencg = ~ Q=o G=0 ew h-ye > @=0 OC- ‘ig C=O ©—990° TGs ee coe Oat — © ure.“ ton" ACW foot none ts 26 = 28 * -e35 —ve than -[30" HER (14) a7 % wo Jf 2° aos Se -wan G.nqey= ® 62 (549) (313) 5 S-7S65 sot! Ll _ a oh Sige 59) = 652 Gor) Gots) a8 [ERICH . geo 4380" a = OG 270° P= 120° 4 yor'God— Haa'@ld)- 487 Ee) 5 ono? ik “dor”! Lsacw eae’ oa 30° —— (20 CDs cee | CoD as cage? ee LP with 180" Can = - loo aa = eb Hai @)~ son 1) — 40°20) a '(os) & 4ar(0)= yon ( tla) + +o® GH= _ (843) $2 (S41) Gt2) S77 J@ - . i ACSW) = _ Gers) pe ' = Oe a a P= tan (8) - a (@) — for! (2) ~ 4050 ()2) oS = a a yon (Is) — Jeo — tam'(@)~ tm (ln) - 290° @=o co La\t0° m I con cae LES don! cw @2 _ tulle _ Ow -\e —_ LE, 1@ @-— 22 ores yew yee ol \ Z Gin = — 180° i 7 7 = | ue im = ae e8 Gea) — tan’ (012) + 108 (085) \ 40% (oj) = 3'Co)+ fom (la) yes (“8 = sat (255) + (-%) = O\twr 2. i = Crt ah = ae 7 Q- w= 4 d-bs? BE coe EATq Cimvnel pom@ Gna _Coty te) Cota) &* 5 Jo GAGs) = C504) Coote) (sot) Cia)? § = |g 4+ tan (6 @) (cs) + 408 (l2) - 400" (ls) tee yan 9 ACW -\w" = — He, 16 928 > ae ae 30 _ ® ane = csta)Cst8) $2 (axl) (a%44) (49) Sr JO wo) = Coots) Clot) Me sy (Sor!) or JoXt § = ~y0. - Gey scant (he) + 40 Ge) @eo & &Hfo® = 0 4~ 30° ; up Sac” Claan a) f A-ai iat) G=0 whe zy 6 =-9904 -— bo & Ge 66-186" = 2a Le () $= oho 1a8'G) on — 10\ ©O at= po @ 8(941) ue = S (541) f= - 90 ~ 40" @) 8 la Ws Jom " @=o ow 490° © Jor+' ames = -3d- tants? co spun (i 180" so Wo" woo Q = 30- +05! (0) = 4on'Cal3) > ——T CW cu @=0 00 4440" a= £40" ° ono gg o cat 1 ® C9+2) x G@ HS) = w=0o 24-1? — (oh) Cs-l) =0 9 | n= Tot ‘ a ~ Jour [om ° © f= ~ Aoi God ~ (Ie ‘aleas) + tom'(ol) ® ang)= (s8) S10 n= To®rioo _ besa GYH16 A 3° = (\80- san (of) + 40h (Alig) —\e0"+ 9.408" (@Lic} a oeee ACW wao [h-i0? eo | to I< o°@ ance = 2° (stl) 57 IW se) @cgnoe = ——— =-4¢9- ban G)-arlee ACSQ)HOO) JoQor) § jo- ta (a) a I at ny “gt oO wo On + 690g 9-132" 2 022 ~ 068" s 0-04 ~ ss? ‘6 ool ~ 947° wo oO —-@” ©. AdenttSy the Stabiitty wv Dey ve ¢ C" € cs oI I i Aw Cn cise Mopc=! g=o Gus! © Grands = odB Pre [eo-teo" = 0° cl fig1) ae Miopem OS \ — on = Plop a vt Uno ~ 13 G@Mn= - 20 by (tape) - fo = -2 loys = Cab te“ Nae : lege = 7120 a r prs [art Plage = 'O~ 20° 6c cL we \ @ 4 N= M=1 Wlope= 2 =af ft on = > =05© 4,8 a - aa wpe < &ge Gm = —a20\6j2 = -6 AB Ope oe ~ 7 ° ie *eu(s) pti = Ag0°— 250 e =-%° @z0 cv ©) thenever the polas Plot Mlesseot -180°'S Lge @ith the hagnd he tess thon a then the sist ts stable becoz Opcr gc | Whenever the plo} miersect (gor 'S une wrth May, 4 thon the system 1S och bewz here Ogc=Wpc Whenevey the plot inteseect Goth tag. 7 4 them Abe Sis (US beaoz (pe < qcNYQWIS+ PLO Te dsaw the complet Sseqney Responce oF open lon +yonsFex Sunct? a4 > to Find the No. of CL potes Mm the ghd OF S-plane , 1? To pind the Range of tA vote gor sys. Stability W) To Pind the Gia Masgin , PM 1 Phase Cwogsoves 2 Giodn CrsE0 V Srancy . W) To pind the Relative SraGrirty by using Gi B PP 7 9S the qweseect® pH! oF polas plot moving towers the-co then the Relate stabirty ves Gn -o HH rol GAR=l0 Toner x The Nuduts! stabtitty, evtesio. clevelopecl oy usm tethered princtpde known 1s ( pomerpet oF awgyments . & Prmciple oF avgument & Xt} states thot 1f thetre crve P-Poles & Z-xewoS ate enclosecl bY the vandom Selectecl close Loop Path then the GCS) plone encircle the origin oh (pz) Himes te NE P-Z a (ony GUS) HO. = Tea cota) pore» Chomgem dix heve Ne al =! encitcle Zeso-v No change mdi ae acw-e +VE Cw? NEcw Lo S- Plone qu plane Sty Ae cw weai= 2 Nate OTES the random selected closecl path shoud not pass through ans pole GH Zew- e the pamciple oF asgument concept ts applreal to the fotot ght Hatz o5 the s-plane gilth vadius oF o os a closed Loop path . the celecieal aight of halF og the s-plane atth rads oF co 1S canted “Nyquist Contours” y the Nyquist stability cailevia completly dems arth wight oF G- plane. S-plone, yudulst contous Ir AW-s Plane—sED Pole Levo ConStqusatron. 8° open Loop TF Gites) = k NOS) Bis) —> RCS) Ht acy) ~ 7 cur cts) GS) __ gubstthie eg@ @ meM@ c wile) cur cts) = CS) DCS) _ ~ 3 a ae _ pcs) tk NCS) The closed Leop Stabrirty given b} choy. ef? A@=lt ae He) 4s) = 1+ kN = DCT KNG) __@ to ce bcs) DCS) To Set stabitty cond” compare © & O Poles oF chas e(® = OLTR of poles Compase eq® © & E wap S$ ce = CLTF poles % x sn) Zesoe © c= Aree \ a _ = =e \ = P - 4 AN -Carjcetaycots) shout OL poles oe Nhe \-0 1 Conce) we Reto eon OF No-e$ enerrele ment Ghout crtteat pomt (C15) Ol ne RH Spleme | ~ paantobie antsy = plane 4. Lp ato gee en Gy Shed oTNOTE & To Set the cL Stabtirty. we tequived” to take_encixet cat point nD So] ments about the cxt ® lo hemme the amy CL Pole re Right st Shwe rs nothing but Zewes oF chav ed. ahich must be o In the aight OF S-pk ee ee fe Meoms It states that , the Neos encirclement about the cattteay vomt Cob Jo) must be eauat to potes oF Chat. ea ahtoh ase nothmy but open Loop TF Poles In the Right oF s -plane, that Meams p 4=O eee @- dvaw the Nyquist plot the Given cyst Soy Gu a Bi procedure © GHC) = Seep) Doaw the poiax plot sor ow the secton Sectrs G@=o to FO sea Le : N= =. nuquist oo Bieteets OF = 402100) 7 O=0 wl-30 geo OL et rh _=o 10 tO 3 the secitn I tS.a Smal| Tudtus semictrcie having a sods of £ & the angle Varies From -39 to +90 ence the $- Replace: 4 e ® Ghere —o § oNates b E \ e Replaced ts theve EG YS 7 Som —90 40 +90" 4 @ncsy = aC ee*)= bey (Gace x O-+ -38 40.96 Ea® evn) Ld = & : oo 364030 ( a ) a es («¢ lid’ ) (t¢ 3¢o)\ 2 ts zee oo = &>0 Ewe neg + 30° 1 3 @=-3d —* co L490" e Se : 7 — ae are leo oy 0" Radtus ~~ oo o eee ke hat Cleo*) ctscle @ or ase > whtis a + © O= a0 OH” ost yee @ ror onchusion; WERT Rats hold Asc’) s) circles = -jo No. of 88 poles ¢ os omg gS—» te oe en ce\= = ¢ 3 a @ B Soa @ Co L¥ a cy tebe f4¢ ) = a fy se) 6 o-r-38 be 3 Vos e — o hte wilt Secs) ES ng ee ee ee ao? 7 640° at ap L128” ° vosec} TIL 7 r+ 18 Same GS sec.X } Marvor image o§ sechen I +462 Obut the rea auts 1 but the chrect® 15 conttnous sect (aN) 7 InSite sactus sermictacie. ® the Ongle Vastes from +90 to - a9" hence S-seplaced by yel? ahese ys 05 v & Gvastes $50 +30 to —g9° Jo Ste hese sare OJ O-¥ 90° fo-~4o° on (pee a ue i \. on ao ere ese (Remgpee 7 Le \___ Le ) I t6 a = Meio @—7 40° fo -40 (a (a8?) Roe ta Ce 3) ur TL pen a. Rowe wes y = R-veo Re) 2) “OU Sechon ty Wyes the Nag. oF © that means Tt Ie Pom ak Og The InSite Badwus of encle Should be stopt. @hewe the trevor tmoge end 2 the mse Vos of cIvcle Abd Ghee the actot pias plot steal . - the msiite circle ditecin 1S araays cli bea F depends on NYauteh Comtour directionNyquist Contour 18 Selectecl by pass fteough RUN Side is the Gtth the smut yadnis € then the Mmotniis sacs HWS asc diectlon fs CW 4 ~ . - GH Frc polav plot & fake niros mmage @=0 1010 @=0 6-30 See be pital) Jol OL Poles oa Righ Ede P=o __- crus te riteros TAYE N=o -l4Jo Neo \ PHO Hae lo : © ounce =. aro 6 H = _ Cett) C42) GS = Goryeo) lo f= 407! @)-ten'(o1a) Ms . A Coa) GotW GrHes) = _ 10 = a S* (6a) (ste) SF Go) Chota) lo ot pole BG n= GP Camta)(@Hle) 9 {0 ew @=0 wl aig? oes 0 L-360° “lest The wo 02 cL poles m Right hand > stde given by N= p-2 Ca vp ce ©} z= 0o-€)sTt2 2=4C@ ct pores in te RH-s plone) ee pioous | on. ) &.NS="Ss Copi0) n= Oa Fri wo Smee ha) = OL pole RUG=C =O co Lo-g3o% MN BME w=a o L- 260° wt P—- cLlvs N= Pe aaaoolame role > oes ©) ans) = 5 >= Ms —— ony j . © Ja? $= le [1e0-+er5'ccs)] = -Jo-1s0e +198' Ce = - 0. ~t 2984408 (0), grew ng b & Fmd the wange of k-vahie Soy aie Siadttly hy vaing Nye ats SiobiLity omotysro. k a Qu@= —b——— 5 oO Coad) C2) GB) abn QA= BED Guta) Ges) procednge 40." Pinsl VOTE; \go° 1 equar. to aesume thet the TMerse chon pond oth ~ the cxtircat port, thot Yoeams dhe hognitude of Trtereect -lee® 1S equal. do the fagmrtude oF celticat pom} mn the , dave pooblew. K, pom+ jit he means magnitudear Shs the tMersecton pt tomate -oy by conatdesing nagniule Greater than one CMag>r) tm this case the cathe u tk 1s fuside the toop For this Se} the | N' NO of eYwerac! oat on. Sor stall itty ia) 9.0 SP GI th -186° =-1 tJo -k | “5 |= |-14j0] ( NIG Je — . Ase . =0 (Poles m RA oS 6-Plane) Ne-2 N = p-z= 0-z ~2 ao (=) apne Oo) ep 6) ghistmg towards oxfgm S shist the mhlessection pt towards grignn by. Constelesing Nagwtucle <1 4 Th thig Case the crtitco pt: 1s_ouiside the loop , Sos thts Jet the ‘Ar no. of encirclement 4 . dgndt® Sor stabritty . aaLowes Imit fs os by Mhtessecton Pt 4 - the Imessection p} Gilt Zev c in att the pwblems thed 408 ¢ Fo1as condition 15-6 Ké60 LG @e ® ind she compe of Votue Sor sich. Stobitiy by omg neuter Stabtity onagers. Gt iis) = = GHQe) = * Clots) t@ (S@-1) $= -404 tan @B)— F+an'Ca) +140] W=0 — cod-99% = = So4 fai! (Cals\+ domi @)HEO =o L~ag2 = - 26+ Jon'(a)+ Jaw (l3) ~~ 240°+ few (cl3) + 40'(al) —— act) ap with 180° Ip ohne Lom= —!8° Leo = ~a 70+ tem (C)+ ten sora = 4om'(o) + 4a7'Cools) 9° = +on (=) =o}pur O=J— mM M= bat k Fa en & Tor %. [svi “aS @ ancy =_kCota)_ (6+!) CAD Pind the gamge of k Bon sig Shobility Ms & fete hoy Le4G) Ott p= + tan! (/2) = [ \0—+a8'(ai) J tan'(a) = + 405'(ap) ~Ig0+ tsr(@)- 107") = = Atat Co) ~ 480 HO cw @=0 2k L-I80° — bam AC 90°+180 4a (ola) — 4m (ofa) = |so'~ atai' (cola \ —7 CW N=o Krt p=6 pan wer 76) L 12 k4l cL (® 7 cL) @ The paas drogsam of cL Conditions stoble syol 368 open Loop goin Kea 15 & Shown ™ Sts tho OLTR OF the s99 15 Known te Stoble » the osndfftsa fos “St OL syer erodniTty 1S RID oa pele 2k 2) \ eal, AQ sakes a OO OFKE SS sor ei @ -a-y [2x6 aa 2k >t Krome pote ——— © -— fe| 8k 4] Kz cy wt} a fs © Pe wl oso Ty 205 - OSE @|Coscac : OS PM = 180°+ L£GCfo) HOS) [eoeee ne as Equoje M= 4 to J Caan Cote) k = OT CW (attI¢ P= ~0°= 4on' (wis) 409 lad) Go® = (80 +C30- fa! (wln)- 4a (lq) (socne conse = — [48 (id) x 408 (ts) go agg f_ let ote 4a (" _ Oe | w=e9e ase SCgta) (Sta)Jonge = ATI \- @Yg . a es ‘ 20 7 => °S84 (-«2) = Jon coe OSF = Bw] he GIQ— OH B00 fx-3gims _ YL Osea se: 618 =C Ggc= 0.419 2 o0.%9 xseC age NM=4 oy pe os) Cote) Corte) k= 0-90 [(844) Corte) = 6.22 GH= a de Ope can = lee ol (ula) - tax! (14) ao = te! 410) + tan’ (ola) ae = ton ‘(on +a /Calp |= 7/9 =O &- eae = 9 = 278 asa [S20 - GM = — 20 oy | ase | soupe = 7 = - 20 loa K 7 oT ees 5 «2 | : es) oy ode ore kK@® © the toop gar of Nucnutst plot tS GHGS = S Passes Heough the “Ve rout Gus of the ph ps 9 me 288 oS GHC = > Passing through Negative veal QxIS Means 1 1S ed od tiewseche= OMT with = 120, Te Magnivde GY pe. es why ec ow es Po L@H = —I80 —180" = - 90 0-25 cy “K_lB0? =D L Bosos: + age i lope 90° = 48%) Ip @tth-80"—7 Cos, jo) am wale (pes: ) Find the Gm B PM to Hhe obove problem | falge = \8o+ ina oa (GM xo" Pras (g0°+ LanCjo) Ggc= 7] = ¢de ph > Glge.> Gn- Spc _ PS Soins — 103 80 = ad -anl(e > @ Kec TT = 90° = ~— t0H"(a)) x12 7 fon’ (eo) +8F-3 8 > & Pe = 0 86 elee® aa ote \ = =r py = 180+ Coots fa \- = tw Tort! ey je fey . ‘ y pr = 6-48 u O-F86 sleet or eee oS co - ee ee Gren) os+ = 29 log) on) 5 =-Gdap 2 —& -20 daloec ® @ucye= ae on, pe” Low = 7180° sales ¢ yr (Zest ate a Range 7 Ss) toe go cust - Opec? oe} “ores Ihenever the plot awe T-F — vagntans Less Hagnihicle tt one g Less -Ve phase any PA” Gage, M=! ghom €180") os ah the Seer ee te sang. hen the fan = PM thox 24 X/SR OP joc. bh core 2 C346 \ | ’ =) YX VV ore O/ Terie *IN SE does net exist Dey tone. MEN). GAFPM Veteroption 8 oy pM = a way None ‘ong @ cat_em by cosidewing Ggcso rset PM age Mo) SSS, bon aye ty 8s ~1 80° a @ Coge= | wleec PH = 180-9 0°= 430° er@) a sobs Les a =-| =! 4 00 p= Ieo%- leg =0° ct @8) a nca = to SS SES Low =o" - mek eon + C180 8 Gy: State Space Analysis Weothe Sutse behavious base: inka Slade KG p ie ANE me AN pm \_ Io Le - ai ~ ol tt moe /® Stoke 8 ethe State gives the Suture behavtous of cist. based on pyce Present Mp & past htstovy of the sual. rThe past history 18 Nothing but THHTAL condtttons @) mires siate othe past histesy te descatbed by state vavtables [, vige ace! Capt Cve) J Current thsough Induct® Gy] . The Reetshve ckt 15 not having any state vavtables because the olp of ‘eststtve ckt depencls only on tip. but not the syst. [ Mo enesgy Stoved jo pass history, No side vorables |. The Resistive ckt 15 cated Memonyless Syst - No of state Vastables & 13 the Ric Wlw 1S gtyens The no- oF stare Vavinb] € equor to Sum of Inducth & capt. 3g the Aigsenent® eam 12 grven then the ne- oJ Nowoble equat #0 cider of the disferenstak” em”@ stondasd Form of stale Model 9 X = ax + 8U —> sole eq”! pynamic eq” A= o1sSeventat stcde vector T= ate Matin Be tip xX = Stale vector v= 1p Vector = cx +dU— > OP Ip_eq”, p= “Teanemission Matex Y= Op Vector Cc = ofp Matix B ovdey of the nattxs constdey the Mult tip g Mut olp Syst as shown tm sty uy - 4 mr atem Ea em wy TVs ay ta~tn} m-retate vost aes LP Vector Tuy Stote Vector 1 U ei) id x =) 00. um % danas ma op Page|! May 4. iy ‘ the ovcles of dtSS Stole Ved (x) must be eauat to oxdey of the State vectoy CX) = NxI J Pith. nél nem es pm Px®_ State noclel to the cdigreventiaL eq . \O5 @ wette the state node aS +5594 Ic \ +o the given syst 3 + Substtie eq™ m the given Syst. Mgt Bayt ote * 34 = 10U joo = sng Sia Vat Cael e New l=]. os] |mlrjo\@ he -3 -s -3 | lag (B)]*| controllowe covrortent ea SOOM [CCE] 1 — “News (d= Lio of (% the Siode model 1S nok G UNIGuE sthetye ase 4 O45 oF Stoke Model . <1) Confeoitable 4a obSesval Conont Cocr) {31 Disgonalazation canonical Posm [ vce] <4? JORDON Cac] Shovtout 3, eee . — Lost elernent m tne 434 94+ qyt y =C9 B hate ——_—— ° oh opps Fe. sign OF qoesd Bock = Cece ={3] OCF L coe (eee) "= ° pai T alOQ Ss ss-ay4 cy = 5U 300 or ° | S 4 1 nD oO % Stale Model to the «TwmsSey Funcih > M@ ~ 9643 vce) +5646 ated hy x yes) oS ee O° + SS'tE—> yy Loy te Seed UF ot Sat OXI U-6ex\- SX2 Seas — oo El -f ely “[f. = {ar oh some Sign of oo) t Ue] coesy We ses COD) rc (s*+5s' +0) oo Anode charge loppostie stgnot coesjedend - 6s LIT Suaten: faye( o\ tf wd “a aaron e LEAs Th a common. ye ——— Factoy Numer :8 sc9 \ _ Drag pol zation OCD Coa) (sta) (Sta) Comamnscas Soom footial Practon: —& 4 B 4_o St | St. St3 \ = aCetd (sta) + ati (ot8) tc (st Cote) Put G=-9 = Bert S=-| PASI] o ga-8 =F CHNe S= SU + -au 4 a¥ 54\ ota ot3 Ys Hy +224%3 aL aU S44 = WS+U = FU = TO aye Yon emeeet) st bth IU 1+%= HU a font ay= WU Shot 89 = au U= 2) gy! % y= FO~ 3x3] — wie _ 4 My |! %) > nol t {1 ifu] 3 Ka) | a fi se a nected Foies &® = : Prachen Elgen value @ond G main ase imteschangable Mm dragon atlzatioy then. _ a= ed — Area +x QM. AO) _ hee CS) C54a)* Cota) u 45) . } ~4 ‘ C = + Seager : v8) Csta)* © Gre) © (ets) v v ‘ = yey 1 —_ . (s-ta)> saa * 343 : Y= Loi Hat 1% ‘ = ¥ _ Au ye = Y, oy = SS oo cs4Q)* Sto. OY 643 aM) ft) mstoneu Rascilen niles A Sto) Sa Ne = Ue 2x3 1 = Fro) ZewoS So. : an 31 FOS HD ‘ aL = a7 okt]5 eee) eeic x = M1 = - = - ” Cetayn Cota -/ ¥ I uf \) tL ( (exa5™) (sta) y= AR Sto Sait Axis 2 i 7 Peretan Psa HO"™ OS am . i - cs) (st5P(stid Neel _ kL op Ko Lk vce) (st8— Cst5)> ae “S 4° O0' 0 ° ~|[o-s L:6 B=| 0 0 0 -5'6 li “0 6 0 ts : “ © - Wate State Model to gtven System © = 1-3, SUIT FHT —7e eg = 109% ee ie Le aay (the) a5. C Stare \ Ka + Gts) — (s+10) c= {Lk kp k8 ke] Fat yay tek Ts Fant, os) 6 | art 6X8 }NOTE ¢ to Select the Node as a state Vovtable the Meonang a bymch +e that Perttcutay Node must be O Integrator 8 before that node it shoud he AP Penomtot OG Sete vowabes ike . ° Als KF, Whenavey mieqzatos ave Cascadedl Increase the oder of ch Seyendration my a | oO wy oO . %a|=| 6 6 \ a2 |=l 6 |) % “B -5 -3|] a9 \ Be area Ol (OF ey @ J = -4nyt5uat 6hy oO“(Jo G=(0 98)( sa) 2 / 1% bo % 4 > ° u Le SL A ape Bp — ly = J aig Ot %2 eS ls “ils = \0 . ) oe toe b= tourna | [ee ctes=ee] b= wt mitt ° —e@ %) = AS Eo ore Ha e8 the gwet sist b= lot maT XL eae 4. @ Wate the slate model te — ARR —-—- ee pet Ro nd ° 7 ob NoSTEPS 8 43) Select the State Vavtable aS Vige acwss the Capr cuvent theough Inductoy 4% the no. of State whines euuee tg 2 capt ’s 43} Watte the Tndepenclent KCL: kvL eQ™ ag capr jumchon & apply Kol & Opply kL theoug h mducds 44) The yeguitant eqn shoud consist state vawiable & drsser- Mor » Ip Vastuble & olp vatiable . ¢ L or ¥e ty Uy cael - Ck” ys | Vv Ni ian Pe ° r ees w [ee wih t REL ok Cap Jud” £ Stale variable = We Oe \ Lie ~ay4= Ictite kWh de = Tutte ; —— n » . ZL) ce Ave _ -1 = AvaLyt Li SE Ay, ® ONS = 2y,-3L A S2Ly at Cc 4ai | Zia Leg Lo. MA. Py o af fn copa a eeee ede | - \tu Le -\ VoonsSes Function = CL S3-a]a+0 The roots oF char eh cared. poles 8) eyen value Ss \s1-0|=2 4 poles @) Exgen Volues wo fe s]e ave] Pind the Hrmmsfex Sunch-to Stale Spoce “ebseserdetesy . xia [S-4 07 ,) ee (Sass}e+[ Uv, 413 To get |st-al add S dtogoncuy & change the stm oF coes$ecientS 7 é \ °) TRE fi J * oi. Oe (a sty ENE@ xs (3 2) +| ilo. N= (2 ox 3-1 Le change Sigh 8) aald s Atasonaiy [ots vt w= [is] [s" le | [rs oa TF & S44 J —~\ (en) (Sta) +3 |sa-6] stil = 4 7 ae 3to | = —— Xe ee P AJORE — ot5St9 ‘ Stt SSto “ae io ; —J0. 86 aH On SEIS RelA Sm tisesare sation fo the sfate eq? stoke ex. % = an4BO —y Non -homogensus e Method 42 Laplace Transseq Methoc] S ¥G)— x() = AXG) + BEKESH UC) § KD — AxCs) = XS) tT BUCS XCs) [s1-@) = xe) +8 v@ KC) = [sia xe tet Laced 306) my t < c BR 5 ec) @ on [een = = Olea + xcs) cE [se oy" _ = go ZIR-the evo ‘lp Responce 18 clue 4 the Mtoe condn & rer GIaLe esponce 19 due +o the Tp lio ae ora xC4)5e AS e a Oy CUO ye de|— NN __ L 1 ee ce ene : Zeso stale Responce aCe) = LIRt ZR SS Coa [gos Te] sm -~ , State ste Teomstton Ted s19¢ 8D = 9p (4-0) . (e1-0)" =LC6@]) = §cs) =o Compose ZSR l § Ca-0) BUC) dt = uls ws) ssi) ot [xo om cat uc (8 cd) B val) Gol to the hemaeneats ed™ ybax ac) _ Homegenous SE - ' tst-0T 20} “G) = TR = ey@el = 6 (4). XO)Hes o§ stale fomnstifon Hadtin Wy Identity Matston $ (0) = IC adentra, rads) > p= oer oh H*) — oces) F'CH = GCL SY Cartda) = $ CH Ga) 4 6 (das) $ Cdr te) = § (32-30) > The stole space seppeseniahon 15 » fos ia AP eel! x X= (¢ 4)* + [9] Us, x) \3] itt Sep ap yy 81M @ zm © ZSR @ State tamsston C4 © ofp => add 's dragonany gy change stgn {st-4] = | 8° -\ 6 $t3, | ady (S23 al SM, gayse ee Cea] ‘\=0 cates | oo yl. cej/ae | $ ss sam) _\\ +(e 2 a(n S$ (88) aL ' =\5 zea! a Oo saa | \ © 3) | y, od 7 ~ mn Ae SM 68) ©fy Cie 4y] 67] D z= $c) Oa G ae 3 | \ = (rece | _ (=) Le jy Lge | ap id yeh Dd oer eye {ry \_st} Ys mre o[ge@oue) =U} | {of “ 8 ord = [* lo c ED ®& stede Teansition ea Gx State eqh - J - ace) = ZIR+ ZOR = S| © t= CLrolx "tay = Ere] eal C4-e**) ‘ P ciol¥ : =) +. xO)= ie}, 4 ° , [P- ‘h Ue ont Ste? TP. a zipe PG) XO) = gant § Lei i] ={8 | [zen = | ie, Tea. ) 0003] Fst and bcs) = 2gcd = adds’ drogoary change sign ‘ oc = [ 6x-0)” L Gt-a = (o+9 4 Lo stl © = Aj [sa-e) Sti ° eyes o | Pes snel = | Ceti) core) ~ |) ste San 8 Sto o. St Gy (stD | c semi : ( r Scstl) : lee - c = | as “ora « ole C 1 -_ 4+ \-e* fContsoljeno£ltt4y &) obdexabrirty . Wa @ syst is Sard to be contvoucble If TS Possible to feansSes inttrat stade fo the desired State WA the Antie hime Wee sai oy the caboied Tp “7 38 the Swynod Slow gvaph 1S given to Judge the contslladstit observe the poth tom lp to state. I$ the path euist then the syst. 16 cmboiable 417 find the K-value 4o became the eyet Uacondiaitobte Shae chowtd Tot be Padi ip fo Stale.) : an 1S “ay \ / \ # To become system uncont rollobl ‘ \ No path extst Seom Tp te States OU be ee ie thod Meme K+! =O Keb Kalomamn's feet Sor contraitabtirty @e) Kalaman's test For controle’ Qe= LB 8B O'R.-.-. a™ 3) Contvallable ¥\ lacl#o —— Rank of Qc RANK 09 8 | ‘obsesvott ity the syst ts said te be ObSexvable lehesmme the Thtat state by ce’ ok guvie time iivieovak Wf Hoos posstble ty Sexvng the clip Na Kolaman's test Soy obsexwabtiy Cae) @ = [co Gel Cery2ct ._ @)™er) = obeewwable las|=FO Rank OF Qo= Rank oF 4 Cc cA cam cam! -© g=-(0 ) oO a > eee ter hota corolla 2-3 4 - B as as 7 a= \o o a \= \ecl zaGae8 o 2 8 2 -8 a6 cae comp Nable . cLi 08) f ca fo to) | Qe C [ Loo oem fe toy desl = car Lo ol fT #0 obsewvale .® check contaohtable © obsay abies ty Cee a X= |? =o ; [a -x+[t]y Y= C1 ix a a c B AB , le.) =_14 Oe oe iat eet OC eer le -3_| Contso lia & = [a = |@ol= 2 2 9 Not occowoble ® Gilbest tes} f0 THS 15 applicake Sos only mowmar form [ dragoncw zodton Smovlcad fosm Q ToRdoN Gmontc. Form} 5 Ay check the Contolalstrty 2 obeervotility 5 } . . - [2 3 k= | 9 aE - if e U = Lo 4\s oOo -8 NOTES 78 the signod Flow Graph having Indegrator cohich awe cascadeh then get obsey vabiity & cont btl ity by wong kalaman's test - [ = Non 2200 - cme EV y C Non-zeso — Conpollable (a o\ puree:¥ the last ele 03 JORDON block covsrespanding the ‘B mod x element 15 om Zew them the Torpgy block Te Conhrotable * the Steet element C- MatHX Clement Oboasvalle . A 03 JORDON Block Corresponding fo the 1S Non Zea then the Jordon block 1s "i Empensetor & controle PUBPOSL CIS The system ts umstable chen vequived a crmpensaisy OY GA Contvolley 40 Make i+ ctable & achleve € the vequrred pesSosman ce. JS the syst. 1s stable then so Tequired a Conpensator Gry: ombroiies to achieve the GET rcaan. Tupe-9 syst : es oa Ge) s-Co+a) Geta) | Cot toca) CEL, sh 4 est + 584k =0 mean C3 missing) sols . po confedies = Cpt 8S 5 GC], = Beet Hee! WS os (oe) (oH) - kxg= 01S CEL cht gehance kkost * HPT O18)* the because an -ihne Py cond Olp. by achteving syetm gain tselF In thts cage @e con Use any Compensatoy @) corbolles basec on the tequisement - Pos CX? Tuype-4 > GCS) = _* » Hes) bh, mean Sota) Cst4) Ce e& 2 _ BO 2 Coase {=0 6) = Gxt 48 Gm& Compensasos is 6. electsicat nla abtch add the Fmtte pole 01 Sms Zexo to the custem et! romaved Location hence the pesSosmance of the syst 1s change as dor the sequisement . AS thee Ave % tTupes oF Compensatory - 'y Lead compensat® 2) Lag Compent® 3) Lag-lead compinh Wy Lead Compensator Etre Pole- Zewp coded; lead = ———> Hrgh — ote an > Lem lag —— [oe ho. egt+ ‘ % ~ye angle» POEs — toc - high ex : Lag- Leak ——> San — es” (0g? Len 10g j sep Lead- lag —» —*— hrga- Lo@ BAND rare PASS 9 LG ead” Ti0s) ) Sto = Stl xer* Dear! \ wa) oat (os,Lead” Gornpenscck or i Iuhen the simusoidak 18 apphed +o Ng ) T+ pavchice smu- Sordal Steady state ojp hovmg phase lead w.¢. to Tip +hen the wig 1S catleck phase. Lecicl compen snitoy Vee Compencosloy Tmproves the Tecamslerd persosme 2 also syst. stablitty. c oH WO 2 ke Ra CH SCH) v R\ eM LAL a CeqRriRe ae Rg 1 ScRi 7 aa) vets) _ Ro {i+ seni] Hee = Wcd ke Rit Rot RiRaSCl T= Lead Trme tmst = RCI Ee 3 Ne® = ace) [ay subotinmy a mean) Vi) leas | 4 1s __ ie By adding amplisted 7 i the ottenucdton the sysier The lead Compensatos Creates seh ace 40. eliminate offenucdion we EQUTee aNIn Gees +o Gmpnt becon of ins the Cost & Space to +he syst. Increases fr (om = The Preqney cuheve Max: phase Lead occurs Om = [@C1XOCo = Jak = ps8 lee = en’ (Jee bn= s\ at [o ess TA C tees accuats) e The D. contsolles addecl 4 zexo at ovigin hence the type ts Ladeect 41 Zero oo origins Hence The “SPE As Type J, the statis tes ‘aut the oleady slate ems Tt. OO RS srouitts Tes. that Means syst become less accurate. Rot become ieee the best example soy the D- Conkwles 1 Tactomelow Ch) \ cali. = Rad) Tupe=L, ce y osqest+|-0 © ee © rp Gio aeekics a Lepr i S2(stio) | acai Ce, St lostkp= 0 ast Chess atomme)PIGPottona} Snregeal Cobol? C1 contyti*) ; wepose 8 To Y the 6S. esos @tthout esSecimg Stabtl tty “ry The Tr of Pr. contyoles ts =/kot k\ = Poke tks | ee + The pa. controller added one pole ak oatgin » hence the type of the Syst. t , asthe tupe T, the 8.5. exror | 7 the pt. controlles added one gimie Zero m the LHS which avord the egsect of syst. stabtiry. f ~” Fos. example. _ 1 Type- 21 CE Sy igo 4} SoG)! GO ec ~ § CSHo) . Oro!" A Skp-+ kz a eget! ao lc= SEP TET mype-2T co gst logtiaco & $2 (sti) eco a ed +Skp ‘ Crsse Ocormate) ! ¢ R Isco apa AY i 4 4 —» ~ ' oN eee Contam ia ‘ — ka R J = kept vot) _ Rat tsca = “A+ econ We Ry ( — Ro kas Rich Obese, KRF-R\ ? —s jupe tess Y \po —7 Tupe Ty ess oe S42PD Controll™ Puspose 8 To Imprve the stubfiry aithout asgectng Stieod Stale exsor Vat r The TA af PN. aanf® 15 (ko+ kos) 18% @7 (t+ tas) Fine Reso Tupe X une —y the Pp. consoles added 4 einite Zero In the LHS. the adder GF Site Zero twpwves the Syst. stablity, 7 the addit of Sinite zew hot changes Hype 1 hence ess Yotchay v7? Por example, 1. ——_ Twpen CE ot oo' tl=o (US) BD Valoe SRGGH) © Inpro 2, =O "Geilo = SKF Be Twra-g SEy SP ries SkoT KPT © sath condal™ S2.(stlo).No.chengetn type No change ™m ess \ {ser Re Ke — Inv —? eee conta 6CyRI) voc. Ra = RaQ t sci = ; Ri RI vtCs) (stm) Chet ko kp a= F2 , Kee Racy R Ra + SCIRo= Ri