CHAPTER 6 DESIGN OF CONTROL SYSTEMS 4 INTRODUCTION The design of a control sys plane, of the system struet Parameters. Thi © Some com . tem is concerned with the arrangement, or the s ‘ure and the selection of suitable components and is chapter includes the following topics: monly used system configurations Controllers: proportional controller, Proportional integral controller. Compensators: lead compensator, ; Proportional derivative controller, lag compensator, lag-lead compensator Op-amp and RC circuit realization of controllers and compensators 6.2 SYSTEM CONFIGURATIONS ‘The commonly used system configurations with controller compensation are as follows: 1. Series (cascade compensation): This is the most commonly used system configuration with the controller placed in series with the controlled process. Controller Process Ge) LOA G0) og Figure 6.1: Block Diagram of a Cascade Compensation Circuit Feedback compensation: The controller is placed in the minor feedback * hh, and the scheme is called feedback compensation. patl Process 6.2 Block Diagram of a Feedback Compensation Circut Figure 6. i tes the control signal back compensation: This system general : SS ee ck the state ‘variables through constant real gains, and the esis known ‘as state feedback. sclComposting seam th 76 dee of mn Aa tow Seen (ite) ave on ge oo et Cr pte ol Eon, perro a ani hc who ger es Tats tin, w wil ca th vou pe of cn, al, Pret cnle ae a ich he etutng i Ee he tt ‘ropa ot ere gl Fg 64 sows te ck gan aie ———) =a & La ename| ee 3 Ted me a at ene So, hi gn oe Taos) m0 5 ele) aera) ce PHL tbhiene a0 « 242 arrd =o Cay eases « ¢ heen a ra nue 67 ete spay det rat pop dete tone, me fe BO) - Bact BO franco Semre ee nin wn 3) 00 eoBeiname as : Pret Cte J | ag te ete an cnt | ‘eal tal win Reincpanaed oe | MNeeme t | * ent Foes et pace tin ep ng 1826 gn ht ptt “Ed Bence Tien ein tr Compr te aloe xin teen (2) mg | Gielanee , Kea fen Ko= Re om th ou, sah ad pu 9 = aia0) Bien) a, th ten ip 2 mms rene 2 Hs, ea a i ett ont ns Ms ie ca Opa Cat Rann Caeser ‘Tee open Inaglcontalr i raed ng opamp cre me eet | Foes 6.10 som he opamp cat elton of propria era oer: pane Ct atin Ppt en ot | Ei ° | a-ak Comping tn soe gon onion (3) 6 1. PD eon adds a snp oat == r/Ko tothe fear ah] | teaser fein + | 2. The damping rato nce esng PD corte ‘8 Bot the manna over shot reduced 4 Ring tne ad sting ime 6 tnzensing bandh 6. Iinroing GM, PA aM, 1. The PD contol has the diavantge that i accents gure) ae PD cole work «hgh as iter om Cpa ht Rain pa ng Ce eatin TE: Fre et stow he opamp det rata option nea ‘ute wich be ~ AIT Dlcutler na eo a =~ Kit the fear path 2. Premtber ieee the apt pt by 8, hs inet ley sae eer yon rd | 4. Pleo aldea pleat += Otte form path ane {op ofthe tem ined toes te dr of the ye Bone, which eke oc they of he ye 5, Preontolr eetily2ow ps Site 1 tgeoing ding nd ecg msm neon 8 Deering bod improving the GM, PM and Mf to Fitering ou ih quency ais 634 Derivative Reuback Control Te na nic naa no ich the acanting gt | Beene erp tl he ee of Tchr Tn ene! one dick cone 0 eT rece coma 62cm th ck ar ‘cn snltem Fo th ered pth ra etn Me) Bi) “erat Ke ‘Ain he can pte aston he tent st ape ht he et ‘som Sat ingen ae 2 re rc ett ey | * uring niet | ater | 25 Proparton tnt Drei (PID) Cotaer 1 PID npn a) ne teste wh (hence steeper ee atl ha (Slept pel Tc utr eo of PID cone ni it I caer ci Fin en cea ri io) = (Sn BB ed wo ncoupe in (63) 6.8 Bakar hak Kak<2 ane = E = Bo cee a" a so Rehberg ee ont onan io Scat te SR oo | sei ger at dng ta te fe ol doa oot omg? Ft et i co oom etn ‘ERY atin tn sanyo the ae ib vez) ‘Gnettlarewel Te ben ears ofeach the Pad PD cose we es ed emer ec a nam d Sonman at | mg se sy three ee ype of ements 1 tad campomsto 2 Lageompenae Lagan enmpenstor 41 Lead Compan = compte er i 8 em, | H ede to Cie =e. ‘igure 6.14 show th Bode pot of the bad compensate. Prom te Bure a0 = 4 aa tad tw wmpentr rare hips Sher whan, anil oe Reh Fes, we ar he pole plot a shown Fig 1. Masia Phat Lad for Lead Compesatar ‘ra cqutioe (6.5) we bave the ster eto of pas encomee pe coe nti te re SE en “ES BEERS, novcnc — * sel SL. owt Opa Cet atin aCe [RC Creat Reina Lead Companator Tiere show he RC ct oitin of had emptor ee) __teale 80 age comping te so een nin (0), “= onan! 1. The geet fs onl mors damping othe elo om 2 Rie tne and sting ine ae roe. 4 Phase margin improve 4 Inpro in lative sai 5. Te mndwith ofthe ost oop pte incre ion to ft tine espns 6 Stenysate err af th eter ot lect ag Comper ‘Telcom hag aa tn fe bs ‘ ae 1m “ ne Ret on aon "rm an se Fig ain Pe An ag Cantar ‘Regs mt en omy feae(EeBpe>t Bode Pat Le Capt we rh inp te mt From aan[RC Cet Reaintion og Compt Te i ot in ort, a) BH 80) BO Rak (ora Comping the soe ein fo eaten (28), ge Tame he Benet ‘Gin cones agency is dered a th sven rac. rate of he foward path ranfr fonction tented fowe tbe gla ermwer fogs, thas improving thee set "The be tine ad etn te ofthe sta re sy as ‘Te sytem oe arse 10 paraneter varias, Ost the sngyfancuan peter than enty or ll Eoab=7 (sppcintly roster han the dt) 643 Lag Lead compensator “The lg compenstor be te taal faption of the om G00)= (AXE) eae cal Finca 8 Plows hf Inga spear shown ode Pt i and Carte "62 ow a pl fhe gal apt, he ei my de a agin ea a a jee pa opamp Cit antag a Creator Mme hn opamp ai al ompaaea Re ea tin ES cn Teen ane BO oe seid ree, a EXERCISE. 6.1] wee 64¢ thy co ep tps an pe trem be ete ‘tetra (Pom Paw (© PD cmne ‘yvonne ca 612 The ec cen 19 82 sqrt (te wea (0) ed {© lag a (0) Peer te Ag cmp ste (a) mane pn i Sa is (0) ete te ey a ee (Ch pte apd re (0) pret ef nf ne ars mae (a) sands avant (reste oar ats Detect (Ah hn ti ut nt ct : (8) cee ce {Cheon ne (Drone re te ca nz Consie hit st sia 2, Dertectt se mg oe fuga ete 2m ne al bck ant vias Propet ntl 4Se prt bn pe Bint ie Kt 1. Pecontroliee — be ae ihe eae Bes rece pers y . sett et tn emteteendoraere tn Be (a) enn Od (a) eu than ()ecty eq too (6) exc ent re psa congrats compre — ( ao White designing contr, the vantage of paleo cain | (a) The etm orders ino (Bh) The eye orders eden {€) The arto omer bests ot {0) Sens or rear to opt els ‘proportional onto len 0 ‘xhitite exor fo step inptfor type Late (@) rte ero for sep int fr type Late {Ch nero tend stat exo fo step int for type st {D) sro tend ite eof tp input fo t=pe Oe ae sta Dette eepec toe ti oe emma = oe oat) ae soni Tease eect en oo Onn pi dang Sot a Perera oo (A) (0) a (e) “ pose Baas some owe (R)he soc pa wo ating a7 (imeem for fe oe semen (ornt Bando fovioucoaneld om ‘ang nnn mpc eal i iy etmdc eons (@) Reed Leste (Rest Came (Dy Roar(ay 0 ate {oy PD enter (oie {Dpingindcampnstin natok roc cn epee oe a ty wr me atest 1 nce ei ene fd at ttn, eae ive ta, otc gn (a) cing rei {bp smn nena ein Op emer ant ting ie en og nc ting tine ero anne htt in dnt et ae ten ao mig oar os o (@) coon dain (C) babe i ein (b) are eat ovesbot esa are given bow “th afer Fintan of to cm en petites G= +10)" von of the towng sateen re A cme a 8g oP (aang compet a comes (6) Bah hand Ge ld oer Srna Gael compete (©) ty eee (tea cn NESSES eer acne 29 aa ne ete etn tn maa icant hn nt in mice erm heen ea e104 Tala gam staple shown »2@ ‘Tmt itn dampens, UE. et oped pny hn To rr o ‘Pmt ra Kemer ayes an (O10. eaesree eeescce nt 4) an od ita WT) et ease ming stents eine heme," PC i penal pi cs = Sd ep yg, ‘oP ang he poping edu the Aen Oe le pg Fao te bing erect? Wears, (6 Bah Sad & on 8 (©) ate 5 nr 8, {common Data For Q. 27 abd 28 Api ita oer een nt stop apt 1.9%, What ie “The pak rr fhe este 6 ee tokens (0) a sen {hope ? (Ase Kr=1) (yasox5 (015,04 (os. 0u5 (0,24 orsoot ofthe rte to nl step inp masse a “The peak oveos th tent mt ep inp mii Perak grat bra no a "ale of a. What wil be the vale Ke ‘puch = tod si Gy se00 09.298 () 256,039 oy04s.56 the wnt fntion of ad coxpeantor (oz ng BO ME {wel sown below: Golo) = Fon Tee Tittr eet en niin i ae Qaceennece ates creer O)nmong naan Comm SRE se wee sea iter. The amr ino an) 2890, (0) Rano; myosin, oma cmp ti wing pin RE mtn te ion eu) 3384 Gyecncnumes or (8) R= mou c= {6 Retin =O msF (0) Rou, R020 " ca 2 ‘Tho nik a emp ishown ehn sp tt at ey SF hf ho ware work orate et mek ose _ —sce nese Tere 8 PL a ole) = oe (4) (Re RIC (fier aaa (©) w Roa cmon ata Fr 3888 rain emeetan iat tbe eurncy er wich bem pase ale ein! tajen zig maloe (@)e= cman | (oo=}nttee yen /Fntiee ng wa) coy wo(244) | ) ose (232) como ata fo @ 3810439 act acompetr tb. neeaa vers ‘tne ioe ee) et Dinan | (@) to compete (6) Ing ea copes (©) propor! controle ‘The masa pei tat can be bined ing ths ors war @) a ow os heme i nee (Ayaan meson ncaa Oi eet happens a ‘ecg aca eer a a Moet Pea? SSmewe sree ioe meee ache ea aie Be eg gene saya ym enn pa a) gras anid te ton Mee eg voay wart monet 0a tn) ee tat dor eae 18. mae) isca east Anat mln eel este ith PLEA oe ay, an seek [Leite fp epee nm Oe) Qmomanatay mom Dan 9 Ott ‘Fare daa of eonl sete wth wre conta on sh on soa form gectico Hm en tt ng tine RESIN i st tte om Oe 19) =} FT HO) ‘Te al of and wae esestily (a) 00,20 (20,10 (m0, 10 (1m, rn int i) A tage ios 10) rege tg 800210) (4) G(0)= "(erates a) () Gele)= (sa a) 2 +104 00) 5310) Att teh cts atthe amp err const F a) 2H re on ‘What il be the vals of Ke and Ko 90 1 100 ad damping ati 0.9? (2) 10,008 (you, (00,10 (09,01 eh pa emp en en ON ete mum phase ih pony uch component ‘Comes Dae Qt co s22 Te png 2 wig cb i er ee as The pi rt taper ves 424 The pont fet repre common Data For. and 6 ‘Troma ane on of antl en be: ves cas ‘Theda oa cot Wa “Anema oe pert ‘lea = 35 sete th ly cn tomate Ronee EE ‘rie weet o> |B) inees nyo nytt ce th ive fn AD eg oes ez Coser th ck las sown no a tin ane of 10 ha Se eae Ty pt gg LEXERCISE 6.3 Snub Bethea eae omen — mente Da mln pn Meee (Or oecton Shem rnd he ing pen ich eit in sd aly (Ry pepo ine Se ape acm (© port + Sti oion (©)peoparil tap + ei ete "he finn msi plete an elo ween (a) Pte (Presa (0) 20 ominter (0) Peper tae (oy mene (D)maecthera a ite A (A) neha ater (2) ng nteek (6) adeno (0) ow ote fn (a) mateo (0) ag actor () agen ator (O) nee oe ca ess The damping ofthe piece neem ting oper gs ‘pf comples ot (i) pend (@) pin ng, (pine () noe of te Prac ng oer (A) matte sostast vey xn (@) cease tant (6) ire tern ity ()alofeee ‘Totnes the damping ofa evi dean yte the come et (3) ple nd (2) ps ag (6) pose agen (0) Nowe of toe ‘To incre the bandit of cote system, we may 8 (A) pase ag emperstor {) pase oe compen (©) paw laged compensator (D) Noon af the Dent dati, (ihren (ate, ‘ay ce (Omen (man (8) dent (© oat (0) melt TR grt is gre he it pase oc {Sheen ‘he sinter tim he rt ep cr (oy (© iets (Dyno “mcm ed ath he i en edo (Chit om (Dymo ‘soph ma fants {a} ptm care teeny {pase cme eee (6) rao sees (D) ena te oy tit ene wen te comp wis (aye ‘Bhi (Ome (Dy marche perc, Kr we who tare em 4 ert ny ir ning eA a a a ee et ta (0) ee pay (oy ne te ie he ne cet nd ree setae ow eh ans ois te tate 2 (oe ct en ne ———(0) en the ows it nots the ender ‘rer ay (0) ea one diets a e o Io ae tie oembont and enews the sonysate ert ‘se a sca eazy tre on cont ert ott sia sive a {A) steer tom {snc the ert 0 ce 0 0 {) ave tc othe ee {D) come eb ere erate eta Se es a aeons exer eniee Oe et trea (9 no ecard seca uaz Devine ere compensation x pal fedback contol see (2) ne te tive dps tates (8) dca the efeitos (6) prow the sendy tte esp of he te (0) awe of thee ne east Tanger fed sometimes tel pon conta me @ (a) mre th ete damping he re (8) dere the tive dni 8h sate. (C) impo the stony state respons of the pee (0) none of the nce 6228 Integral err compensation i emploed in dink crt es (A) seprove damping {@) improve spond f expose (©) redo send-it er (0) nae of te oe ‘eyecare apc" Set om nt (ema eee toa moet eo 4807 Ape tan a pt ptr eg ne ar {© EiierPoeeP ff ine POR rhb (2) se nee (0) rat cmp (©) apea empeer me oe a seme (8) ind capeer {© ingen (0) Nowe (8 Bs Cs co 320 A pce at yp ta am mete cn REST Teac ace capestin see ee acme (@)alnd eompeante (ch ier alge ind compete {D) nr nage el ome (Chem cuyinree etih (Mca he ning te seme? iitar fa abr eee te (a Sea we bot ates) (2) sma tae ttt {D) Bab tenet _————ee : ae fe fron ay a accuracy ? wnt Hg wo same See ne i SEE oy oe (omen ae anon tt = Gace mn tds OAM ert et ter ana fo emt ias Sea iSeencneccmernatues | Neco Ae eee ca com Masi tue fh cmpetr 0) 050 / oA anna ert HOT ee aot aoe ets —— ve (cya at ae (©) Noe O)Avareento ca 6396 tte ee 00 bat Tey ait enn agit repo is pment ee a bn en ete ste Sey Tn ttt te = me ste ea tion {i ft ang thas ees? ae UR oi obne stents ne . yo at nai {6} Suman Pat ston (Qe (0) tainty ta {€) Sunn Fe bt seme) re | a mb HOT hee atin (0) ban stnenn oe (Oem natin OAvaeansie sco «398 Consider the owing eases | “Lead compensation in suitable for systems having ussaish mca sae Avertion (A) : Tihogenertcetttck is wed as minor oop feedback Omit ‘response, It also provides « Uited improvement in osiion coutu myetems to peor stably om Sade = SS a fag tah i arte {q) Loy enepesntio i sate forsee wi eit ten (ba At i ie cin it te arn ny ocr ein we te oving te caret ses? (0) Ashanti RENOT ess etn {A} None of the above statements is true oh, oi {f) Son (wb ent (Qh (Amt Rishi {Cy Stn (i abut enn (Qe : Aleta {b) Bah testator ce ts! Cee ing amet pig omit td sca cact ‘The gala case uc al adith of atl a a get umn ee Er Se repectively. A phason network is emploed for compensating eet oe Se cny ween rome oad male Teun moe nr ancy td tnd who cma | = ‘Br te ann pete | hoster (8) steak ate (B) oh > tai oem a Soe epee od compen doe (accor rn Daren Poe eer mere he ny tt bf sco 4331 Aprapry pc ompenton tht he oS tr {a} Ottot need rs lt se {0) Bandit f clad ao ten ois wea fete {C) Risetime of closed loop system is reduced @ (0) Guin sarin ecw eese See a ose ises (a) ta (2a (tema comer ho flowing sae eng sed deh th se “ao 1 Tete edong he tensa eer do ap pa Sh ote none tnt eect? (tee? Gia One coxa He ina pefomnne haat Sc cosy costa fort en re ay 2. Redd ein cose ort Hoey Rede bane {Lede rwemce pak of he tee ‘nih the prfrnance ctr ae aioe wh th pg Gia? its (oaaane ()L23an4 How docs cscding an int contol ithe formed pa of eat ey nie soit (RS) ad te sey state ear (Se tats? (8) Bath ar nest (@) RS i yoaca Dt SSB ince {) 3 in nnd bat SSP is ded (©) Bath ae eet ‘A tadometer fotback is sued at an inner Joop in « pin oo eee What isthe efi of otc on tho gino he bt ee ameter ont tv ine cont tee) (2) Bath are redocad {) Gai rece but be te constant ese {Gains nee ot the tine constant (©) Both ae incre eee te pe eb {ert i) {© ©) abe aa A FSOLUTIONS 6.1] ae { SSSSTRIEMS nl te a TESS etme atte en i 5 NAS en ty agen een ‘efecto na ss cme eine) croak cet iena e , op, Ph snd PID contr oes Scr in gra mt cs tn on Sroswens a ‘cane en ete cree yr i ene iste tues Bie it etree een 2 Sac needattterattomne, | + paar ent a i ete ey Sorte em a oer, ‘a+os) Deitch = erst aca ors 2 | I ta te 23 fee Sateen el ae ee 2 ee Te infor De sta with ick act manasa aa gafot “ins he in en gop PID enrol inap )Tet an | sess Cnet tin SENTo eee te iyatebete =" (9)- tne | ay = Aimee en P-eantroler (propctcan cntrtlr; The tafe function of P-ounser (ap) 5 Si) eG) <0 | ctr eine at) Te ae ain eae, he ten a gh sou 6s Cont opin (0) \ a . Tat conpenet Hh iw al Fallowing ae bw tres 6 Het ee ee << yn ye ogi emi . a eer a Tika uae nt i he itSan Rem empemtr eH ay a0 onset option (0) Dheteplene meetin sumer of pol and ee mi de toethctin i mnber of plore othe se re se E ike sytem dtd the ber pols in the ye comet etn) ‘Pho stig gl propre tothe er sgl 1 ces vr op a oh peter lh reals neigh wes sett donno change te ie este, Hee ey Hae ete nga wl ot can: ccgomtende a rt i hi en rn a SSorttandagre peta amseenste™ « piecnio s wk entig int) mas a fe eeya i name Sele satis Baia ae ron net 2 hiberaeteucy Up eee ab at tn Gaye Ree ka eet Rest egy eteier 2) 2 ead ng ety st et ere pin 8 ‘Thepbce led ennpenator adden sand spl, withthe oto ese te pl tote brmrd eae fon 8 he tem carte ‘hangin fiorng 1 The gn itt more damping tthe ded nop ste ‘Toten and ceting ine ne ee in ener roa 2 The pn ofthe awa rs fst ate vin oe in reer eqn nce Thi pcre ps magn ete ‘Sea ep se Sop ofthe moat ev rede the gin creo. “Thing nad pear 4. The Bonhisiaceed, and ehincarepods to ser ine pa. et tin (0) Sie py dt gy eth 00-28) G29, ‘he eaizton of Ig band lg ed compensation vtmk sat low ‘Te ene ey nil © Sete eet open), ‘Tet pone pa he me i eo Ee tn ren fy nafotmta ket ae, i ein ag ete a mk Ta ‘cn aught care tin) Cet ti sentation watlinn Tbk 2 Rela ein 3 Aine twenty te aby taste EnBete ery te memati ts Gems Q4sTae Banas = em amt in Repeenua cet Opn te) = eth pn, m=! Seven, atime ae)=t4 oteite)=0 on we le to who dampiog rio (=05 an ntnpel i Fey n= rns th cue, ten min sal eatin € ar shor bbw +k re 5p wi te Fe {20 Pie mse {205 2 Phe myn =? “einem PM, telomere cae poi mt ps of Lead compete ua an 8 (0) =f Bia= <1 Nw chek th ale och of te ge pias siren (48 {atl Heme eh th campastr antec G0) = 85 ate 52, yon a To ~ tomy Sate ‘asin the hse bcp Cem Reverriacn es secorntee hes, Wi et cart tin Te tpewntl ope tee ned gests hewn sep one cal met ‘al n= geenree oocyte yon SS a ot Se re nd ea tae oer) 20) a (pers uw enemies hn cp congested i 4 6 SSSUTLIM A ty steed Swe oni i) 16 = 10 ey (B+ a (eaten) so" (0) (2458) ea lGite semi pvt i a | SEN te nape gai fom em ny. eos) « on) (en) =D nel we tae [eon =— 204 ete contr vt a tension 6B Neve re pee cmp \ 1H ea we may ag od ame 1. Mipus came fqn of mpm ne et Smiter, cso ted en ‘or, web toch whiter tn gun crooner ee of rn oy wer thn compensated ye. Feet en OR eco | ete { . ‘frowns ENO a oo seal tn i ~ Yun tb pa =: pt yt [mbar ‘io mp wi oe my =A) eH) a8) (4) So, pa ge er ed =e) tt ocd «yen a na iceman neo! serdar ae (2F) wo manent __—_—nese fet! sasmaltls 5 on ft a a a soc ssat Care pti SoS ese eit pe pent rb de me eS “9 Tethr Kua(geeg) =? Faye tn ia 08 4 ‘Tec equtlettpatane af Rand 20) = eds ct eget impdaneof Re G ‘ete fon ben Ba) Gee fp ay eee) so the tre or en snd bie Now heated en ee Gf ecko a eae and (copie tan) oe « RG> RG, ” ‘Say. id tin eg compe a o>, « RO> Re 2 crate SS Fete et eet Tilo atte, Oe) one ee yn eb eat “ree aa ct rome ein rn —_ atest: 5 comet) Si eee= " iste oto) areca) =retsK, Se ed tearm ™ a0 tear ese mmo, Sutomet 5 neo a er option) ore een eft with Ky = eb Hd -aaelt 0 jane ee est} Te tt ye oe He oly a0 erat ay Te ore 8 ie nt pk nt =. we sy = 18 a co Ses eqnton (1), Sve th rer eon of do 9 2 Pst ayes =0 compa io the Std am 242k = 090 thavit= 4rd aarti | Pook =| Srna A Sn cn hwy eee - mannan shed exes combine ‘eeu tegen « eth on fn08 a Teta So,tneten petetn Thee ec ati cd Kou 7 ” Fence el sen Fst aan a ac oe ao tt eeSS se Sar ee Siem rm tte co . ap Fein ane qanncteitd met «| em pct eh et eae aa, Seema a e coe ‘erm hn po ote Si mun Soetlie, Sx ra ccpeptamuan ay “7 | mi etn) hm | Bean 0 wt pean noon mem | Fin te eo ein en en | Anam eae sal etn het te eng ca | mentale ne | Song tn oe os, we | seus The = 025 en HC 0022 Sic all ie iets ove es co oot | peace Sebati i sboverslte aa | wey, Pt 2 non x N= 2010 wa ‘mom xa = 62230 sa e4o Carct oin ) a “ear eto eter tae N ste e ole) = EDO carenating otto (2 and (2, ip <0 C= 10 sje ~081 = (+ R)C= hom he eins ee Cnet ation (). Fh unr ect of en et nyo) __ Bebahe KO) Rm ‘Given rar fat oo) ESE ating the ean Pa) we (iene = oy Re oT te, Correct ation) ‘Thc teu fmt he ge etmrk btn 0 0 (Coe on coma oon ee en me 1) wean Tene enue fae Be sibel < redze-rche is oseT) seem) = oateaity cart pi eth en ten he a ante ota") 5 Soy hepa Saeting oatart etn Se estat) hom Fate een toni fet een iene thes son err adr emp, ar ton Sipe a he ie se faethe tou) ) =e (rFoaaeo2) w(t)? * Snr, ¢ Othe gente pw fea cena, err option ‘Peeps af the te j (12s) e"(004) | or son ps ifthe eatin of msn Soa Bo 4- G Sipe Tour = rue Hear oe 1 H(Oamp =3 480087 Boon = 3+ a0 Mande ‘en simu pias angle wil be for w= Mtoe Ta, ‘nSStam poe fe wate bain! n= tn (12 HL) ~ a (.7016) ta (05772) foot 144) cron tig rt 8 ‘ot ome Gtr poptond e hci ne oue aati 2 Far edcing tho sey state eon, the ited of nepal tion Cs (lt to tegen pe the resell ft 08. entry owe ooo the iyo EO OS Sk tb at fect, "A" ote maces Roe as aS Tt hn emg e+e ste tay Sn norte: aye ae ica ea th a s e Kent eet ven oes on es tn win enSere ae ten wa (tel eerbra)“° we Puasa Rer (iw) 7D ® cig ei cin id ni er pg wt sake noo = >} oc ans0 Cat aton (0) (Gir th cle bp tase fection, T= zea (ON TET i) ‘of eer costa frrd pt ae fiton 0 ak ‘ben seul, Te ned re ft eed a i=) Satta [e) om ution (2) abo ees, we get = sr orrar TENT maT Ke Again, om the ie dt, We ne the vay re eonstant Kot ‘Sic, he manperorcontant Kite fr type tem. So, the ten (2a) in equation (2) mast Boil toe, ‘mae K=O = K =20e ‘Alo, we oan th or ett goin (2) 8 EEG te aaah HOS om & mia “5 ) So, rete (Give K SI 2 ty Peoria 7 Fae cnn = arta FRET ae coca cao Pt ot ES ey oye ite 0 aa rae etn cen stn, "Tarte tthe pen ye ct a) = tym = HE ‘Te ramp neem (ey 0 ce P(t 0 ° Soles eae het Tout cian = ne , ects een TF axossin ziti eea EOE Sy — sts commer (pee ee ne ee | errata et) tas - wy Soest oer pe te at ven \ Poel gent i rere ne cin a M4039 wr tbe mas pas si dua camper i vet $3. a9 pare ai 7 en ) neste reasa ee Fe) sag a) ALTERNATIVE METHOD: a, Ag. aaa ee eee ee | tat $s tpn cae aie 6 = tan" (870)— ta") oy Lae Apne masini, ata =o | enn os, at | titer ales « gbhy-shio-0 Paes se | sai Spates . were esa aL o wea c Sete aslN : a se tar te llc tt PY ey adhe ™entse—osdn 21-0 i Soettatig ine ee sot foo) in eqation (0, 0 ot deci _rea g.2) He) Sere O37¥am1 2), 9 ime the main Fk) Soi Ne ta enh 32448) OST 344 Tio eee -aareenlan 1 onm(entt046~oatdeett ‘hoe tae ft wth drive back 19) -zranthea 0 adel ru on withont derive dak ep ak Ble) "Fae k Comparing to gras rir ato, me gt Monn land =v s cnyify=02 @ “ie died ding ith deat aks €-08 Nor fo equ (odd damping ras Dap ean aoe Wa = (Gta)i a = Sep tant etn ene ccna) = 2h 0, > « on rps ropotionsl ys Ky will decreases the damping ratio, Ths, — Tea 7 See in ce col Feet cea op ee ‘a ‘hs ds hie rt oc im ae id } sass cet ith airy em ed ome Soren pe nit ‘athe dy at er tap pt ea | Sg no cs oe he Semen sou east Cat option (C) aCone option (8 taaleone ocaea | oh bedi da compe dan, one tion ( — i nee “Liam ose ane a he gamer onc pen (0) , a i nh xin creche rb the He tan tec tr bank rein atest ih agony i | “Nt Hc, glo si at gore or tO grt aps i hg omen iru sendy erro | Core option (A) ceases fngeney a ty ‘The ng compensation does tbe gb dss the bani Te, he ytd ae comet option (A. Cure pi (Ct pe scsi ofthe i compensa er att the Pl Therefore, bandits nro. carr option is) "The lend compensator i reduc. fcc the anddth Hence, the seine © Saree ‘ee a, rn ‘hte inten ig pt ed, at tn et (+7) ome as 8