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feedbacks and control system notes. very detailed
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Kap UNPeRvAmeED RESPONSE +t
} ~MIS Funckon har a gole at the ofigin that comes rem the uni
TOQ@ ster input and quo complex goles that come prom fhe syetem,
Ramer reeQuency OF | OSCILLATION , did | i
RSMO the salve og we imaginary, part is me achal prequenc) op te
sinuccid | ae
i» YnveRvamped | eecponce J dd. i
~ Gre wich approaches. a steady-state value via tlansient response
Rp eee ea aod | mediation
Syst eens Pove-2exo quot: | | RESHONSE
L 3 Se c* 4-a Gop SHR 4 cin Tb)
eon
Gap w lena cad: 4- 1.00 tees Cae 9.97)
ay Ly
i ce tteae Phebe
CAcuLATION! | ae i a a betta
1 GLA): AEs) GSS Rercy JoRel Let +
é * ere a |
SOS (a plewa) + SESS = nearer tee
siya ed ee +e
5” GF GRIGG - AHBTO aBteso masa
SOD" + Kae? eset + Be ipaiie pop seas | Per | Ard
WO: Ki 4 beefs (at + ob Li isth
TT UUs ead
Ai tesiiey
J S$ Sthastiag
4.
€
— ett ig)
GAT4 ORY Ceragey
en a
Canty Oe
Cet
POLES * 4 + 4
Tyo comevex [At rout jwda | !
NATURAL RESPONSE:
elt) = Ag" %® cas Cost - > "
SECOND —ORDER | STEP. RESRONSt. OmroNENTS Gtutenrey
BY COMPLE POLES 4
Fr Mtenential decay generated by seal pact ie
oF complex pole pair
fousoidal axillation generated by imaginary
sack ot complex pole _gaic
+
VVVUCU VEU CU CTE CTE EY
a. BD_MNOAMPEO RESPONSE i
Te unction har a ple at ane, crigin MAL comer from the unt step
WD [Pt aad wo imaginary gale that come rom Ake Ate
PUSOne FOCLed _REFOASE —genecared by Are mpd gole atthe ori
WD f4s0100) ratueny gosponse = generated vy the “WO imaginary ayis
= Frequency, is equal to the location oe the imaginary goles |
WBsNste
»
Pout - 2649, rot: | Response:
a
EUs Ares Be
t to +
b { 4224s
BD cuntion Tel
»> CU) + BU) gts) t
Pia A scl cease) Aes)
t ee) ta) Ceti atelen debate)
bg ie amr st elt
eee ree pee ete aac
OOF ee Koes atl { 8 Ad
POLE: To itenainéey at luo, Ce ¢
NATURAL RESPONSE: eLeebe
4
Deena $) BEd
CRITICALLY pAmMpED ElobeeL
BB - WE gurction Wasa gle ot the origin thal eemes pom @ unix
cteg input and tx multiple Hal poler that ame gcom the
stem. tty |
eaeds FOCLED RECPONSE - generated Wy 4Me input pole at jhe origi
BBD romucal (eseoase - geqecated by the two goles on. she etal axis
= consists op an exponential asd an @ypor€nticl mulighedl by time,
2» “whe the exponential prequenty is equal to 4ho lowation of te
etal goles i
BD caiticaly oamren sesronces | i
— he fastest sossille without the overshoot that ir characterishe
De he underdomped response. q
Riven
eA Ta
Dw [ere | oO
- eat
@»
» AV CALATION
cs) = ey ats)
a» totes les
eG) = 4 Kul ei, Ee c ct
COVE aa 1 Gray mea rene
Dp = Kit Ke + Kare aed ero eih
pours: TW REAL AT - Oy we
nara sce tr
EY: ot + at mE » “Foam of unves MPEO PesfoNsE USING LfOLES. |
FeooU cKO, ride He form og the step seffonse oF he system!
| SOLUTION:
Cl = eG) GED
ete at SN
SEY 108 #200.
Oia [eee
Pigs «220
GF Hos 42 £175
wb el HE HS
trey ee
tebe’
jfeser® ferme TT
ee le. = (a)
GSP HEGY ~ Gist Gr
sts ie
Tlaie [ole ¢ 7 aarsaaY aaa
Fala Gos elem ti aateoe! ie
FRroeven: rer each a ske gllowing tanseee paretione write, st ingpechan,
a general form oe the cteg sesyonse . pert eo
we Serer saps, 7 ectamed
|Soution |
TAA E NS SCE
Deo Rw Ae) + im etl t
et ents) EEREEEEEEEEEECe
2» 4
ae
ia este.
| BLUTION! +
= fea) ast) | i
A) heat FI |
SEUSS 4 a08 +400 al t
Lota Tt | s
a> St tae Ter reel
Sy [eerie open fh —
see Tacha t © «- | cally-dam
WO cr a ibeaily —sanped
3p Putian -
Gs) = ey ots)
» elt AT eas TTS
2» ¢ os Fs + 225)
[slat Tes 4
*
» sees * Gre
ci As Dee a ete
sc ats) < oe = (ep lata rebate Fe Pit
| zochateat
pe ceo [n> a
ao f+ ees i
t stk as" Fo A hl |
» wen 46 cosQ5% + 5 i | |
a E GENERAL secono-orpre | co
= Natural FREQUENCY | Oy -
SD PE reequency. oF oscillation of he Aystem wtthout damping:
example
eee Frequency of oscillation of @ ceric
cesistance _ thorted
mBvampine Rano, €
‘ene Bat tompacey Ane exponential decoy, prequency of ne envelope
» to Ahe _cetucal _ eequeacy
constant eegardless of Ae time real og the response.
sppconemmal see mreguency «A A. Natwrat_geciod (sec)
Go? reraeal ebeeney C sac eet fet
LD From + -
2)" Byaste area t -
¥ wrmour domgng, resfonse vould LE an undonged Seusoid
For ane gales te be feet imaginary, a= 0 + Fi
stem)
REC Gieewit with the
et +b
FMAM prequeny ic the pequenty of oscillation +
enzo 30 BE a,
1) complex poles WOVE a ceal goct ie whith?
a: -a T I
> Magethde- of the complex pote is the exponential decay
maquency. i ya 1. ae A ates 3
DP GeNtRAL Secon ~ SoRock WalicreR Function:
(GO + pate ae
UVESIAAS EE
i (@xametie ecoetem |. +++
PROBLEM: Given the Arancger function, ind G 992 An:
|
T EE baked |
| ? Pana 486 |
SouATION Cy t
Qs A beso, [ge bot t |
Bo ont V6
2 Be.
aaltTt | Te ait |
fy Ppa eee nmeamee
oayet Sees
7 hee Eat
z sie 14
eet CRITICAL
1 OAMFED
+t
SO GHARACTERIZING RECRONCE From THE VALUE OF Bo
BD rom vor each of the system, find he Mole oF Hard cttort, re
Bid, _of cesponse. expected: dolesl al Tbe teleel
= CB olunion: [ea
= oe | ‘one fe Ot Naw “rat
ea better ea] eC) ike tek ee 2. OVER pamerD
Po Pry spumbu: t nie
a» oe Bate Gs Van | HF1 Lp
£ " . 2 slte = Bacay |e CRITICALLY.
c= a bios kk C1 ft wed Gal DAMPED G = Yawe eG ot |
* aw UNOER
ae Perey
De laterite] igedena
Paiviciieirbccbalckiaeerc set) |
SBD OBLEM: Fr each og the ‘arsper gurchions, do the allowing +
@©Fird the values of GB ond On @ characserize she rectuce o¢ the
secponse, I fal Lo
@) ey 4 LLL OS dese 2
St as +400 i 36) * G5 30s 4225
> foLdnon couuingné
© wa: Vo Gehan © on= fe,
: + fa00 ET, fase
a bons ao | [ees Feel
eaten 2S a vercentage. op the
._. fady-state vetlue._
eerpine | Time ts.
tre gifeh, or maximum, peal:
= Me fine required gor the tranciant’s damped ctcillations 4 seach
ord Hay within, atte oF the. Bae 7 se value.
Ey avant
|
|
fae | seme ate. i
E cacfey fet
+ Ear + ——“Te- ri*isat t t Toa
PeacentT OVERSHOOT | ' 40S i
hes 4 Sra = ace LK 400% zi
eo
Cook 61) 2 14 RATED yelen | 4
cee ae too
“hos Jos)
&- 1? + a (4 0s /1005
SerTuNG Time ts x om
' ge ges a 1 tT
Rise Time , Te a
[Ty HTS 2TH? teoMAB tl Toanene Troawaunee] =
i % en [een _leise ime |
‘fe aOR ce Te oa [a r04 ey
# ie ry O, 4.203,
3 os) [aie
9 0.4 1. 403
* fos [otatete :
: Toe) | aesa
ie Ta i o7 2-126
$ pet o¢ | 2407
= a 04 289d +
ta 03 84 or Ou i
eT er ea
“edmping Ratio + Pereseeeeneseuense
f PROBLEMA: Given the tansrer gucctions fod Fo eiao8 fa, and Te
Sg ciel .|_Lltee Souition. wae We, > Same
ea stale leet ‘e+ Shuey
one AO Gs 0-18 4
ea t ‘
ior ee (els +4
Siar corad ROT eT ee pea] Tee
ie - 4
"oe aS {eee * 0% GAG
Tee 0147sl | ft RB = 2-832 Ge
Glohe lol adedatised tee mel hel h
2. 407: 22 2.au7
Peases
See an ae
TAF esB |
~Lybaieae tte
Pameeo fas que ccd (of Sa Tipe Oy, bao
=the imaginary i Ae ok
@xeonen tay ‘pasnrind reesbency 90a.
D —-4he magnitude of he real gact o te gle
PeAK TIMe , Te is
= inversely, pone! te the imaginary pack oF ane pole.
ole a EECECErE Cre
Sermuing Time, Ts i co
_— laversely proportional to the staal pact Othe pole
Tee
[EINES OF CONSTANT reRK TIME bape TAME, AND eexCENT ovEesHoor
OS, < hos, |
Tel 47h, jstees RecPbces / oP icetonpieQRUEREUNrROMMrED): SxsTems| AF” eoURE mae? |
Constant Rear Fart Be: 44
A 4 } ¢
enatlage ane fame i
UU
ConctanT \mogimary fragt
1b eo: { \
regency te ne RK
route”
VYVVVUVUUU UY
MOTION,
Bar the qlee nore inertial ditchon, ye frequency lnertowes
Wael due’ lenveloge | etmbine | the | dane l tne det es
2 ektling Pe betel ek Tahale : EEE ELT
Sart owiitock net), tee ae see arene, |
Piaaa white te iehaes “eatte i eee eee
+ on 1 ) Set
© ett EL am easy)
wz ».
s aot
—4 FOPASET jake application
SECOND DROER| frekoen
(eledeld ”impitier lgala Zane.
_tdles move, ope ae
9 0s 2 7a
ee the Aistem ere rea) { alternative th bleck diagcams
= consists only of branches, hich represent “ystems, rd nades, which
septsents signals. =
(SON AL= Plow @aacH compre N
SYSTEM 1 LINTERCONMES TION, OF SHSTEMS B SIGNALS
ats)
SIGNAL
Latah
G)- Rei) tesGG.c
GpC9 = RDG GIC BG, OGG) £ £0) 4.0%
1 (5) GO) CC BGs) + EEROeS: £6)
“cOqVEE*IAg Ommon PLock PLasEamMs 40 s\enal-~FLOW.
P PROBLEM: convert dre. coscaded , arailes , and peedback goes be, = er
_ dicarams , es pectively, into signal Flom graphs.
@ 2
RG) Jade, exceed], | Gat Gc a) RO
oh OM ical a
Salyrion | T Ee -
4), Get) 1 @@), rT
“EE
~ Pee co
> Soumion® | {4 CT
2 A
2
4
SOLUTION?
>
gD 1 |e [nol
2 t
go
2D ST EloniAte sigeals teat, _feve_single etow, it _and out
jeheing- asicicicismiein lt lelslelcleltis lel
rROBUEN: qemert the block diagtam *% @ sigral-flon gaeh-
where
ie = wumbor or) Forward pate
The tre 1th yornard=path gain ir As A= Zicop gaine + Z nontouching “loog guns token two ato |
e i hire! — |Z aaetoutnng™ loop paint taken, torte at 4 He
; aeCeae Ll : ,
tid Age) a= gop gain Tene in) A that tench | tnd _ th rormacd
= pots. mn ghee words, ir ie _goemed by. dminatiag per
| A those tog gainr that joudr the An area gat:
roe AN | | Jeet PMNS
= prduck og beath gainr pound by. reverting agate act
at a rode ard end at re vane node, gollowieg. tre direction
of the sigral glow, without saating through ony. okher node more
ron once | epee (slate zl
thane tol EEL
bee TS \ eo
eA eae
Ty eats) Gof)
TTS esas ©
7 Gals) Meals) z!
nial | 1 T 1
ing agate wn the ingut, node
sag Ane signal “plow graph jn abe direction of —-
Foe wAeD
Spefeduch _\e|_ pokes:
te the ouknat
Sgr\ glow. | i cel :
ekamele > ct |
imam Towel UN, ToOGLml |
“het do, act one a0} rod€* in Common:
Teens fae function Via maron%s eure _
Peoeuem: Find the cmaspee function, GlO= PA , por the signal”
Flow graph: te
Se i mel ole stk tel TF RN UCSTONGS=s
| Nome Be pour coneonens ae a lock | diagam Fe cy art ian
Hevariant system: I tele a, |
Tolevstem (wlocks| | |
= sigtats ||
irdenirg, Gasetipas |
ikon | deste | tT TET
Jnome aacee asic porns oF
LASEOBE EOC | 4
eee | eocen|
= Feedlebcle | Foxy |
Teransrer
[edecliong L
eacnace | goin.| met) Aes,
ning the basic poems as Aiccussed i
T equivalents must you, know | in order.
een reduction?
roving Clocks acrods [sdminiog _yeretions
Questions 2 and,
te gpecgorm
“describe the erect that variation
st eae ain, K, hove on
Varansient sesgonce
¥ le varied poten 0) leygtem goes | prom
[damped critically danped 45 | anderclampedt. when bre
[andetdamped, | He settling aime, remaing coastant:
é der geedvack conte aytem oF the tyre
5, describe the. inanges in damping. ratios the gain,
over Ae ardecaameed Region
al gat remains |canctant,| ord the imaginary fect z
the redial distance! prom) the origin | is increas
4 langle (8 ig incréasing -isince | & = 69, ane eta
| [ako 1g dereacing,: { A | F
I Nome we wo eemponen te ofa. signal -plaw graph:
= Nader. Cig eals) | que haf
DeDehgs Céysvems) || fd fie |
A fee at summing junctions shown on a rignal~elow gcaeh’
= Signal! glowing inbo_a ade ate ddded togetrer.
="SiGeal| Flowing out br |g node ace the sum oF
pigoals|_fiduing linte_. | dode.
ipo pacward goth touched all closed |
1 the ue OF Av? eI] {
Fclodelad | busing are samme, | method?
9 Jean! ¢aro tail toda Tad. tne
tie Taide cl oe a
| danenical Foe
Tachieved | st
at geluabie
be, Hed with goysical gauametecs
fekraibe| On oF | seme Mgresenterbions |_|
or at ied ot ryser tobi yop ute | ane deferver canonical
yettec prom. one.
[yecto: Wr reptsaated
ich oF an |
Lupdee | 2
[the ocigisal
‘ghe| vector (hos! thanged |
“ween sor | _derinition’ of an eigen vector,
ue Z peel te bole
Jigenvalue 6 Wat multicle of
ig Bre | [brane gored VeCHO.
“ig the Sigaipicorce of uring slag tee as bacis
(eco stem. teaysgormarion?
Elvanspormd ARC mateiy | into a
“igh nae CHATTER 9: PROBLEMS ee
Lee the block sane shown velow +0 single transper
eae To) = et), |
RD) nee Lis = |. ii fog
{ ru ts t] [I =
jfmewpnce: | TARALUEL =
Fee:
Cee) aT + 2? AS cade
EOS, 4 os oe a
a
VUVUVVUVUVVVUUNUUUUUNENES
Cerrar SUNY
7%
J
cos =!
S734 24 toar 4600 —l00
Eas JOD
© SPH STE ps — 10d
RG-D
334 a* 4 (S04 — 09)
frre]
SES + ISO = 100
Find the clased= Weep vansper pynction, TU) + 72D por the
L syste using block diagcam reduction.
ch dele Lae [phat heard] Ga
+} Gs O- >
t gagoad ed
& aL te, SO,
*
66:1 rte coy
faraiie) rs
a
$i
iG
VUVUVUELY
Sty
< Soh
+ ets pack
Gees) - Ty eadeaded
CH aS
shipt take oF pojat
Ee
Ses) ferees >
E
Gs
a Get G2 Ga
RS) + Gs GOsG5 a
WVVVVVVVS
g
2.
