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MCH3008 in Class Lecture 7

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48 views

MCH3008 in Class Lecture 7

Uploaded by

moodyalsulaibi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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- Weel >- © | @ plaseclag cookobee 9 p the gpa closed-loop spihen poles tt sach Hat He ching ralio of He aphen b J-0/%, Gat) (512) (s+ to) - ae Me eHhiag hive i 56 second 4y a Jechor o) 10 MUS Boe SP © debrnive the closed loop po Pee ay | 5ig= fun 0, fr. We pol the. shay shale e1ot (es) to hp kb locadhons = S42 Wp = 3,96 Nea eat) i Sya =~, 4) Y, [125" = O65 4) 39 @ open lop we. — — (r=0) ope fep pees oh, +2,-10 CnzD num bevypcayrrp teks: a-a 23 PX 2 100/30 39 a SNe Gy = (+ (1.36 _ bo a = 190.4 7. 36°_ $0 B - (eos tds Eyl 1 FF Gz B272. 26°, 300 3 ! ' , E> nga) | es teus4 oss =a ee 1+ lien 1h) b+ the see orkey Jo,dt0e so. desta! position exror constoat is foundcw 0 The deshred ess pllovss Bae; = ey bp~ 4,59 itky y ste 4 G39 ey Sah ally ‘ SAE had OES fs aes a O42hn bh. Sep GAMANs HO oa : $70 7 Shee 66) 4 a ore } gen Gro pols at s=0) we can choose 2 ard p vey cle b We ony 7 Chose p-o0! ond *@=M,lhp=0,Nt pre p=0 © Me new reot locus plot co 6G) = ¢. StOmni) Wipe, ae Cseopi (srGs12) +00) ey bebu, chi) very simile to fhe one for qper beep tf KEti), Howe we reed ty recalecdle & from magoihuth woelt fon fo He new CC) {e@oGl= + -| G vote) at 7 Pe ir the §=lAVS Wega 5 Seta 6 +004, “ook: Te cakoled agho is tth order The obdifborw! cesecl-bep pole 1 behveen -90/ ane! “Al, achaly von be eoludaked a5 = ~01'' heofid of Mrispole oa the closed! lap elim nesponse s tanellel by He eonkoler 20 of 220K, which s elo a closed! hep 200. pen long TF: Ch) bis )= tad (ston) 65 1,00) (sets) dled lop TE> Gy B= anti) _ psbA (seo) GIES) (rao MoeiH0) + AiAL1O1) to we have achyed bop 200 ot 22-010 ond te clare lap poles at ell, 5 = O69 78,9 and s=-0,10L. Aheally in Gals) 220,01 alma? cascols S26 122. Brangh: oo a) Design & cookole Uo fe be ghor ayhn above whuw i= such Wet Yacclaad, loip poles oe lool at a2? B26 ‘ os tebus frst snveshyek de nconparsaked clare loop ln Ceoher (6)-4) The ae i ; i hs tron frachon wh be Sab)= a) = ny which bos closed | p poles a a Hick Wa! Tee of abe cla ep poles eve peak Ma 7h ole encoakalel cle leap poles => 254, Meet te ain b spec! up fle aphen with He coaftole-. This, we pee! ® e om » design @ photeleadl cokolle . p= & es} whe p 2270 Aired chsed loop poles ase giser as: Sia = fu FPA (HP = BFE — @bect- locus plot fur ca K faa, = Jol! yer be yp tee i © Fhe angle condifon to kcal tarkoller 200 and pile me; oe ‘i A a-(G va0etea)= 4100" Gy Wp 20" tar (BE) tor 2G) 0 © choose 2 > 2-2,9 fun Pe) ~“G2)-= Es @)-80 > e=54 Other te catolry = & EZ? co ano gper bop tan fuchon 66) 66s) = £lSt2,9) & ; $ 612)67 54) | ea) n23, mad dofauym: 3122 a Os SIRES say Mee Eee nam 2 mr Sor Sh 35) F fels) arm From oman con chi hon. This plot gies He clesed leap pole loco tions of He kn with a peoporhoaal coobolle: Pad Cl) =k Boe |) | We bre Met cts) hos apoh af 520, Mn | bit enough b hlemie a coaholle choose C= £ to ® rook feces far po sleHlonst20) Cf) 4 Led us consol: regiehtc! damping ancl 4, <0,4 > @o!5) 46,4 Wp 240 fun So desied clase! Joop poll sheahl he S27 flips jUQlP = - ttt <-40 = Howeve, fa fe coche Cls)= £ , we con Jocade double real poles of claed! hop ashe pomuloe behveern Ome -10, whieh doer 70! aabify har requnmerd ts<24. oo Gosequerly we neod fo peed 7 Bush ath a phate-led reakoller os wel. So ketus chose PD conlvollor which hos both PD xr! PL past as. cls) = ky 54 aie Roa Ns bl 5+21 > for He design , fit conde P pat Opp! ® beet lous fr & bse). 0 Griepls20) a) j Sue wo ungt 4 Seb tem rede i 48 choose 21 yh0 let us chowe then 21-50 ; ey WOES E cto laaaaicaee(s) Bence ei have folS #50) Pe a (2) oo eae $66 und 5-632 FMsraIe Ta wu Megan baeolawesy e Fe plies lulls be cexblecclsed! lege etal pate folalloo coh:fyiny. sneer. Ho torsiert response regu xen we should cokeanne PL pot Gp) = es B foaliyy the dlesgo sp Ofe Joos #2005 which 's vey else tothe origi So at plot lop conolles we Can © He trountt! response ath daygped GpyG)=5r50 i ve} affected onuch since 6) ba bre oO ee Thea Me pew bop tafe puaction s 6, bz lse4oNls+ 0,65). 16 Se ene BOG Tonle) Inl9 fo fo may ts ccads Hor 7 ic ke 74]-An) (93,220) ar eT ee STA) Ks 93,2 ( 5 Fi Ky = 138, Finally tetas fire! the PID geotar 69 = Ky Giadlined | has + bye, = te te Ese fs) eames ge Ky- B54 , 2,280 @1-Q08 (250s os)= 524 60,083 14,5 et = 2 Gere roca iiker Ci Ed 33 vit Lae b= BGT Pa Gis naan mea i

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