51 steady ~ rhte Errr of Fedback, Control syston o 5.7.4, Unity iinet system Ra), 9 Go] Ye) “4S The Emr E(s) transfer function EG)= Ris) lig= 1 Cas = fi, eU8)= fi sEes tetets) 4. tep J - For Step. mput: Res) ye "Rosy Fee a | el ray § SCH+GIS)) ess = = din sfsy= A_ ro The form of Gis) Loop tran fer penotion determines the steady-state Em Guys Kies SH sth) N > type Mumber f N20. tyfe Zero ‘sgptom . Cs = am » aR) Define fy - he As position Error Constant Pi , then &g2 AL And hp- din Gis) 4 4 Pp$M 21, AppeW sytem, bs =dim A, ___g $70 PRE fonfy Kanp Input Afr bs = din SAB) = = tim A. so 1G) ot a ss Saks) if W= 0 Ape perv vipston ey 2 be A ofw=d, type d open C= den eek 1 (stPe] A 2-4, - A k mein, * hy Define Kye din SG) ag velocity emmy Constaut Acceleration Dat (parabolic ep) ay = Bic SH). 9 A $70 Hens} tin S*G/3) f Nel, Hape Jem, avd L system, ge be uf W= 7 A A of wv ie Aype 2 Upto, &y on aoe way, aA Def Ai ‘t es PGs) as Guclentioy errr Combet(3) Summary of Steady ~ stole émr geo | Kany Iepet _| Acceleration ee de | ope = ‘ype A _ ee =0 ae 4 _ bo tye2 | ex=0 0 A a Ka Exanple 53 Mobile robot steering Corr decired 0 vehicle Achel 0 9 | te] | Gis) Find Ble type Manor of the system, + Dn k (ki stke)-k zat” est!) GolS)= (ki +). gine Wed, ve hme tyre + 74 Fer Ramp dnp As, He shee 07 ae a oes tk 570bbs (@ A Low-inentio. ple Her. Ride 5! ae Ys), pestis “ ae TT postin 8 & Oye 7 ramp lgut b. k= 2% Pozo fr step Japa C. plat 2erne avd ples ard discus the dowtnawe of Coupler pier Solution : @, Using block dingrom Realuet ion do Cuvert Ao Way feedback. so hen. Where. Gils= te a Joo [4 SKS S74 00ks Then the Luty feed back cade’ olosecl loop trenusfor fanetion _ Gis) gg= 2 = __lee pyr outlots) leTwo methods t2 get ess @ MeHuod 4. check Au ep Aeansferfauetion Gils)= 122 SHlooKS Since W241, We have tape A sypfow &,- 4. A - ky Ling SGuts) draw back . Ouly applionble Ao wasty Feed back. Syebo—> Mettod 2: check athe cbseol Leap Atancfer fanokin Cc ls) = ) find Ale emr coeprescien Els)= Ris)- Yis)= (1-Gets] RG) =[i- 227. : Wd= (t- Gets 86) =f alee sing, Fivel Value Theoreu ; Sey ede $24 Jokes. celine fo Os SS a SH ooKst100 = Ak. same as Metled d. Draw back, Thasofor fonction dom gliote . foyerer Tt will give correct onsweb) 5% Inake too = ste SunSttuh® Wn (0 =o. 29 nz look > look _ (00k g =o Se 2Wn Dale 2S Tor zero overshonk, Aue system should be orstially denpe aes ke bene The -Closedl-leep system tas ro 2010s but Ano pbles. Sez - kt SA fai = bok + fe (251 The petceut overshot to a step Jupet is, Pa = ooespl- | fa oefel 0c KK<02 aud P.o.=0 fe K20.2572, 1 Ub uwity Feed back oben, a Gay ——H) Tt ts incoweet 0 Ta feedfrmael ttausfer fonetion cus) HE deterring fy Ape hut ber of He syptern, Sqnivelot Unitg F.B. Rs) + —| Gls) —e, Rs - Gis) iG 19} ne Ho=I 4hk— (Z: Red : Yo) TT The tupe humber of system can be obtaned by theoblg the feed fawarl Hanfer function G (Gc) - anExample Feed back Tyson 7 a pole, , Ko fe =. aes} at [zl fa Sst) ft a cst) | Gest) one QL deleruine t4re humber, ess wha ko. Ged Or. Select Gpls) so Ahat On =0 fre unit stop inet Solution ; Siuce Gp= 4. Wh Ge 4 where. G = an (4 GCHA) ye ses Ke (Stop S M542) 4 @k (BB _)) = std fer) Gk (st09) K (sto “g(sto) (S+2) tk ESCGp- -43 0 Gp ] Note: this system <5 a type 0 sgetem Wot tyrd —E g, om Sen) Me HOE for Rés)= oa Oss = Kp(W = Jinn G kp on Gls) 7 a O1Gp ke Stute (o)= G KL+3-c4Gp J Gea, k= 0% Glej= 21 0.0346 “ sss —_. - “ oa Tans 72167 b. for 255 = 0. 14 ble. = a B-O1Gp 3 -0lGp=0 > G= 20 Tnnportt : type Mamber only applionble Ao ate feedback For Ate usury sytem, yen musk find the EQMiveut feed forsee Arnser fusctiows G.