s INTRODUCTION pt Leonteor svyerem ceri nition contcol, system Consists oF subsysteme and processes Cor plants) assembled for the FATPose OF obtaining a desired output with desired performance, given @ specigied input MAJOR MEASURES of PERFORMANCE! ALTHE TRANSIeNT RESPONSE — certain time to wach steady state = he rescence oF Ake control system during the ansient state. THE STpADY-STATE ERROR —digre rence vetween the ingvt and the output of a system in the Nimit as time goes to inginity when response reached steady state: EXAMPLE! CeLevaToR REStoNcE teeut iu contro system comMMAND v B eee eo recponse SRST STATE SEND IAN estrone Tenor ELEVATOR Location Time FRIMARY REASONS FOR BUILOING CONTROL SYSTEMS = A POWER _AMFLIFICATION D 5 5 S > ® 5 > S » > » » ® ® > 2 » 2 » a a a aco ATLACE TRANS! ron AVC" " © AGL TMA F(s) 2 [rem tatMOMEUNG TE TAEQUENGY MMA fon BCHEMATICS. OF PHYSICAL METHODS | GEVELOFING MATHEMATICAL, toe Lg SYSTEMS [ | i S Tansper punctions in the prequency domai * State equations ELECTRICAL, NETWORKS : + Ohim’s law + Kicchhoge’s laws I i i ley if MECHANICAL NET WoRWe “ "Tes ais “Bin ACE TRANSFORM TABLE | are as* = ¢¢) we) edosibel _ aceFinal value Theoren “iti Value Thearem lelelalmie he baler ms Be Pe totes Mansperm of ib he He. e Lf [ee] AL eo uw pier pe F rs at fag ws) A (A : A 2 f+ aw) a iba ce E -” | > - Z ence er re rc cre 2 2 “PARTIAL = eanction EXPANSION | iste hoe f = the eecule in inding the iniecre Laplace Varitorm of a emelicated | PD farcivon, and converting te function 40a sum of simpler terme, applicable only ie FG) NG/ 0G), wrere te ader af NO ie tse than te order of BOD. 3 + | im: Tealatbod | chaated aonb eirgigas [elt | [eka | Gr sk 6 Terpast ees +7 2 retiree | ROOTS pr THE DENOMINATOR (oF ta 88 REAL AND vistimer |" NEY OK | Fi) a1 “Gre | Gent Ed = mise Te m@ m Hin Fe+ Gree if ten NEO, CEERI # Pa) e4P, aK l@ Fa) Gt inte examples 5 1 2 ay heey Grocery ae Ca e he 4 (kts tot ep ret en eae 2E ACAD A Cer (STROLLED 9 AP tebe aa) Q@cr-2 et ()-22" (ee 2: A(-ata)* p¢-240 < Lay 40) 7 We, aie 27 eat i LO : A i cae 2 ACAD 4 BC-14ID ~ 2A 4 t 2) Gwen Ae gellowing digfererbal equolion, seWe for yi) ig al) inital wrditions at zero. use the Laplace txancpocen. oy Bk + ay rerun ae SX) + 2s M0) + 82 O* te platian’ XG)-Cs* 4 25 4+-82)-+ Me fee Tes ely aD Ns) = 22 ) SCes aN Cea By a rece CABG FG" TS) HOE 32+ AGHDUHE) 4 Bls(eF OS 4 cls O54 eH) 2a ACOH A aD 4 BC B+ Cer as 32 AO 4 VAs #30A 4 Be F805 + Cora ace oar GACAT PAC) SCAATEO + 40) + Can qd = 2 sit = wad ee sacro aan sa ' @an ED D> ge4 4c sia Te @or-t-c = Bio) race ) -B-8C44C Fin = Ace 4 eri = pa t ) oe =? FY UGS)so CASE. BF Hoots Gee) GenonubaToR of e(nae | teht ANP Rereatep | | || | | i (ye NOD, neo Cy f OO) "TCs ry Cs Red CS GHD oe + Yo ee pt ee iia te (Piva) teapot tare) Cone Cre wm cere fae telabalel A ded fed elo [ideal uote bs Ce t olution: | | T fo ele a all s | a fete CMaipGea (er "Gra" ea ‘aa potty oO Cea EO GED 4 eer SED | (Zp ace taser t erie sb ae 4 2D TU Aat x the ite + Ps 4 eet bcs t2e Cane 420) * Can ee 420). SRS CE ee ee 11 fas pdt [aaive gee slot" (Gar @ar-e i “AC tor ee 70 “AC HOAs FR Med t T jitinetep tT er2c sa ieee ieee) @e-c My @e,7fa fT ebae ba a 4 14. jer =By| rere | {te fae i er + FO) - 4 Se eter | eta Trey: Get - ae se uy J g@case Bi iRootS | oF THE VENGMINATOR. OF) FG) | ARE comPex OR IMAGINARY tT T ND. hep (ac + ve) [tr FG)* Ce Gam taste Gre Gsagyey teomipiel: | i & D) Find the inverse Laplace _transporm: pe a att fed FO" ory acaey selytiba| i {Al |_| Bede | Fis) + OTS Pearse) s * taste Be Réstsiet 5 os? + Cs t 1 Be ASM 42K +SA + ee es rt 2 = 2» ak Bets i 7 tT aaxcrO GRzD 4 = i @ar 3/6 ime t ) t 20/s) +e 4 2a See sire eel = ties - tre] ) edad Gt tieenaa &st CAD 7 Prat a Liisi LL af Iz se te Great” 2 GOT] (= 6° cop ate beTanztt), al] = =» =» =» a mathemabiial roprtsen tation o¢ he input -eutput rolationchig of a TBD tear, ime - invariant, _/eyctem: Lt fle estes ~ = Usually. Fegctsenved ac @ rato of the Laplace tronsporms of the Tm msteat ard isedt dgeelt, ond coal te uedd | to | anelype the evabity | peequency response, and tonsient response of the system: pests} Gts)= 2 t Tit} Ie) dassh baguette vag i tT GIS) - Merger! punchon fevawate with | zero! inieia\ angitigndd Pett COS) = outgut =. Re) = inet. || at ey shes ees ed | _ Ransfec | function foc a differential eauation — BEM Example: Find tne vontrer guachon represented ys Fanta BSH a gether pe 6% solution! (assuming zee initial conditions) BED yp el ~ cue 1A L ae S(e)) #2 Cbs)-= Be) fet c eta Ces ay Rec H@ls}us ele “Gts) ne e wansfer Function On ing , WD = uGt) a unit step, isystemn sponse example: tind the ceeponee,, Assuming zero initial renditions. ULEUUTES = 1 Gleb AED, wt ik RGD” Sta = [seldtien: eee 2a pane A= ua)? R6s) = eI [rte find = Coe } heh a CE) = Gt) REE) EE ) : ee ian ees Gale) = eae 1 eee ey + os eee Hy Tay s(st2> 6 * Geay1+ ACsaa) 4 8S Vs Ast on + es (ot | er i nea =1 TT Atay. IEE Ho Hep rare 1 la aE Ne | Fie eheme:| Ake Aransrec function, byt Us) /aC8) , corresponding, to Une: i ea bic ut itesese tel _tadation OBS Bh 7 Ea cer A onde rae die de i t + 2G 97138 a be. 4 | Cbs) + ost Co tec +5e@-+ = RG) aad RG) aR) ai Cts) ¢ eect 4 Te 4 s)D+ ee. Gress +o dee] fat eis) Lit Joab rare” anil cs AS meses | eet equation pepseerne the Mencper guncko, SUCITTST HTT EESS Rene aa) = Reed C2es 5 t ie fie pede rte age tr] Fj tied the came rerponee or A system vhave sohpe tater tet é GUS) aga ea BY Came | grocets she! examples fubel: | deay LL | Jobeh TT Tt i t CGS)-2 CQLS HRD) pa ae epc (oh y z ct 5 ts ‘ tee? mts) ( = pit | (O-Taa GD DUVET HS 84st tt | Ae SCe#ay Gray © s+” ete Ae A CtAD Er ED + Ols(s4O) + CCeCENADD 15 A Cotiest a2 + BC ett Bs) + CCEt4 ASD < i 5 © Ar 84C 20 Wa yee s4cro aaaet One on @a ion Yaa 84 Ci-lfa OAC Og Famer Bs rc- tae @er-e- toa oa- "pn BCE - Yaa) 440 i +815 Wie | 80-4 FAC Pe os oa dijcsele-Vel | eh cE Vea: cs) + aa ite 4 ee ( baie Sra ae a "Ceen) = x a # SECRET: 8 Yon cles +Gat 4 Aj att Boe : ae lata = Circuits including gastive network and ererattional Slee A. x cA J hema ude cS IMPEDANCE, 5 AP CVToR: Rsuie: cs NGS, ie) T ‘Lesye thet NGS) © aids PON £9) + REY em tee AOMITTANCE: Nowe TOR: mee > Iced f~+- 4 pos) + Néée}<} | ~ HS EEE TONGS qw | aq 4 dal) yt guys ve ae) aa Pee trom. voltage - charge ‘elakionchip capacitor in table 2.83 qit) Cyl) Sulostigute. d*%) oy, a Le STEP + ee SP + eb seo . @ 06 > vaptace -wansporm: PLC SVEGIF REN) t VD ANGI VO(ice eee + De NOD © wonsper | punction: Vel) vcs) MO. tS N@ Nest + Res +1 ves) the 1 Teanstommep | dimeurt No iTeanseed rungvOn'— singe [dep | Vid Itedchotmd weandee | BBB Teandeorm | merhop § @ Redrar she criginal network showing all time varigbler, auch as wey BD iW, and Vel, oF Laplace brantporms Ve), 10), ancl Nels) repechvaly (Z) Replace he component valves with sheic impedance values. mnie replacement x eimilar the core oF de ciecuits, where we represent eesistore with theie eeictance values. GM cxampie: Repeat example in“ transper gunchon — single loop vq the digca rental equation” sing wash anakeis and [eaebeded metrods without writing. in diggerential equation lutiga é Owe a woe Tt ex a> VO oh ; @ ij > Wale EGS | KLC ‘Rank wormed Netwdeit cick uty ) @ Csumi oe! meedancds] 16s) 1+ Cum oe applied vot j (es +e + D> Ved 3 ) VOVEEEEEO wonsper function: ¢ Ad | 4 MG)" Tet R + Nes) Vets) db te) Neto ce ee ars (Wen (sent) Vets) (LCs* + RCs + 1) Gestm+ Kee) Sb) SIMPLE CipcuITS via (NODAL ANALYSIS — T Mansrer fucckont cbtainedl using tenho eucrent low and Summing eareents lowing pL Lea srangeer| fuachidn flan Tape | jib ahsboeel bhetniods | PONFG: RePCAy example in Karanster punction= single \eop via the Be Abeteantll tnlater” aie Pat ae ae A diggerential equation. : ertcen tial eneat | + E Ba! eee => NeC-M Nets) e r tete | Nlee ea NAO Nes) NOD yet) i . tern 7 eve * “Ves (SIMPLE CIRCUITS VIA VOLTAGE DIveLeN | titeancrer | Funcrion- sin@ie | 1ovP) vio veirage | vivision | BAB ecample Repeat ewe’ in “worsrer purction ~ single Lop wa the diggecttial equation” using veltage 100 aid the Areinepormed deat. selagion! Ves EEE TP G +R e + ee + Rs + Ye jest fe Replace@)ntsded a tedesloce |wirent anda durreqe. | dicegtion to cach sveth Weide Kicchhore’s vollage tam around gach mesh Solve the simultaneous equarons gor the output. ©) Fee the wane gee punchon: f PiWiaaster® runcston [-| Muudele /ubdes Lui EXAmE Ie: Given Ake actmork of gigueé velow , ¢ind the vansror punction , TaCs)/v ls). 6 4 sdudiont | | - @@mech a: eve) + LOR, 46501 @)-LOko SOR, + LEO Lt LO) = VG). ee @ mech 2: bela £ (CHG) - LO) + Ot ZEOo = LsTate)- bss) 4Rala G+ & ba Cs). pS a Cem + + * EG) (a, ees) 7 Lats) Ces)* Ves) Be TD a NE UG) @mecn a x eG mesh 2 2D tah ie HOC) + BOCs ed 2 id : ae Brock vinden 7 : Ne ices TA) = Cem DE + (ERC +R 1 = acl [aal etsy Pee | kg Cs 4 a 4 te) = &. Lest = Li test TTT ee wheres pe Comevex Gimcurte wa moOAL! moneys: Babi bites Dota Gad mittance | + = iine aera) of imredance a [ise NOY BGT Nw) | | | o)tdnkel) eudedion '-| mulimehel moads) [| FD camere: Hrd ane sronseee euccton ,VeCS) ANE, tor the creat below. ade nodal analysic R vi Re US od) solution + | @node a: BDAD V8) WONG, | be ae Rg us 5 ed rai aD o@ node 2 Yets)= Vacs) a He MD 6 yet) (C8) #0 a Pa Nee) +uL0s) Gy a» N,G) (C8) NO CE TA + ¢%) -0 conducropees! fy Ll | doa (Met) (Gis + CS) 4 ° (5) C42) +0 Solving | gor | WEG): (Sie. ie || fel [api ves] Tt 7 Ga Get ce If Newsy J” lo G +G.+t NOS) G a 2 L Fa,1 | P+ 16 (sy )* Ne = | G, +@,4q =a, és (PPS pee 3 a ¥ a Ceitstaly 5 [ Ca, ¥ Ga + HACE. = Cone a desb GG.) iE # Cal + Gael 4 HE) = (4,)Xts) TI a T Ss G. Grits VOD fot he [ Na)? canes Sue 20) (eer edy= far eat Wy Gi Gate on Tl Cals + eis 4 OCG. Rca) = CED) “ Necs) [ GGats er ease + S4+G.+ Gtcs* ¢ Gitte? +06 -G F o Gi Gabe Sart Ey COLTER aT t TIM GGabs I Sue LOR Hef Gaay +s a) Joh Sab cP a et es A oe DIAGRAM, | GiGs , fe Gra)er+ (Gate +a npeloted ntoderh = Tea, Aeltage | saute , VU, in serier with an imgedance |, we eeglaved by A saerent foure , 1) = NG) / 7,0); with 6G). UURVU VEU UUEG VUE eEEwe Nets} ned 20), can in paca\te\ eeSheps! in | geveorm iG! Replace passive element values with ‘heie admittances Replace all sources and time variables with neir “taplace Aransp om. Replace Avanspormed voltage soucces with eansrormed carrent sources. waite Kirchhorp’f aierent | law ot each | node- Solve Une simultaneous equations por tht cutout. Form te ‘vansfec function. Teanisec| Funcrjon + | Multiele |wodes with) barrént | sources Ltamele * ror gre network below, find she transfer function, EAs), using nodal analysis and a vrarspormed ciel with current sours Gi % solutigad @_@node 1: NG, AMG, + VW (Te) + 6O-Vd0 Ua) cA Wenla e 460 + vecd(-ea) «Wn, 4 @ node 2: Pott tt GiCe- UO) + UGEICS = 0 é We Ne() CGs + Cs) + VOCE) « 0, Pree PCIe Be y 1 «+4 1 ee recht Palelelole | | a rROeLEM-s0rViING TecHNiaue | aml: Z mecst| eauariogs) Vial linseetvian, t t i example: weite, Wut do cet cole, Ure mesh equations or the netuork shown below. | |] [station || | Taha l |@ mesh a: 12 Ne) #4 =) + (1,-1) 4 28 Cer) | |£)1-Ea] +{r,| + 365, ata | Casasds, 41-205, + 7vG> @mech 2° as(1z-Ld + 1C EaQeaety-cg> asivo gee | Cen G@o41)r, 4 4s) <0) £00) 4 46C55- 3) 4) Ca eo GIs, 449 £4 (454540100 | iswied: | (24 28 E, 00) + O42) 1, 0)-2) 2G) CAP ASE) + 14 48)TI6) 4 O45)5. . * as ia) =O CD30) 4. C48) F.U)s ed Fe yao) ~ JZs 00 Ud Cideol) wea F gedoncé, Z, = 0 Cideal)— e enpligieathion , A= oo Cideal) VOLTAGE FoR 8 ACU) - Qqqp Lertine OPERATIONAL ater | eH a marded ex joe J 360 rt “arg bode #01 | GO000 xiok6 360.000 10% > 108 “Wore vos + 108) 10% 360 x19? sich 2.0165 + Neth | 22 (3) ai ae jaa TNS ed Caged A Ss meee 260 x10?) I ent 12 2-015 +1 / e470 "22 0x10°S +10" Fi etcdita 14 C200 «10S 2s (2S) { Ble On10°S | het ¥ Faas 206" + 20. 28 xls F107 _ 4495 205% + 20.28xI0CS F107 BCOx1o>S .232e% + 66. olf + 27.772 nan iAverting opera VO AO —reansée a WD, gor Dr eyampld Find he teantpacaois (eaasa) + ece tit Pe Gist! i tt Peds] Tt tt Cs GCs + ales + Rel Focasroeec$ FUd| | it ti pa Cea 24 (RC + Fate 2G)S +1 aT RiR2CjCas? Cys + Rates + | a Wo). Qiks cast 4+ (Gt Re + BCs ti | TNE Tita ica ct + (Ric) + RoC lS th ani arks GCO1, 4+ (25452 (se TaseeHATEN 7: AEVEW OSONSS === | mathematical Nf Sjevecse? ee uncon system To hot dasrigicaion op sycrems. can the tales: appked 2 £ the! log lace model geremits ay inWoriqay | models | bejcouse ta ds poem what vmasfennahion surat the solution oF inte algebraic manipulations? =fubgidee [trandpbem Moet Dering | the, { felted, teanspe: function. Li Pal Thansdec putction (4 [the | pile | of laqiacel Ft optgut jad tne | laglace! antedend of tne Sides rex te |e what assume Soni ie teonspar_ qurchon? ee. mith lnguk jeter connection of physteal Araasper eunction assy, tv toke digperential equation dednspede with igivfa ode. concerning initial weadiniens when, dealing = Wen, ddeling ith wargec! fuschons!, (Yhe /inibiql endl itions edt) be] pen i r what do we call the mechanical equablones written bh order te wawate the anspor function? ,, Equahoes oy Motion i i \p we understaad the porm the mechanical equations take, what step gurction ? Edo we avoid in evaluating the Mansper = Avoid peee_bdhy diidigcams, jo epaluating we eonceed rusted i =» tet do tmncpee gurckiont por mecronical networks lock identical ve ed vote qusctions gor electrical networks? eeckaie | ahere ope, dictct (asalogies between the (uqriables aid Component ,vetwetn, the | mechagical, and electacal natnorbs, what functor do gears I eee as tietape art dedabot eb tepat ad toda change mptation direction ia_mechanical cistens. Pode ace the component. parts of the mechamical constants oF call moboc’s branspee eunction?. =| Ideal ined bay load, dam ging, acmatice inertia, artatue blamgng, sma motor’s bonsper gurction relates armatuce displacement to armature voltage. How con te io punchion| that relates lad displacement ard acmatue voltage be determined? Avy multiplying, it iwi (the gem | ato betweea! armatire ard lead Summarize he steps taken +0 Vinearine o js nonlinear system- i Deieding 1 Hee) ndar component ely [we talele ateaect 2) Wi ing Ore | dar Aipperennial bed pining! the oe PL Fd ing the LeQuilileciam solution. brane! guakhon, Fl ldedeiding, ned nonlinear, OF a+ | the | equilibeivn | eaiak-x (Gaon ue), ret Cl A Laylace bansporm eieetas gallowing me C40). 4 > Bea | Laplace tensrorms, Assumeoutput Response oF — sum of two espe reed ResPonse = cimgliga Pores oF A TRANS sue evaluation of a system's _cesponre the values og Abe Laplace _transporm Pw _ feaneter function to wecome inginite oo = coos of Ape __denemieator_ 740 common teoké of _4he numerator ' tp Sinetost or A TRANSFER FUNCTION | ane values og se ‘glace scansporm variable, ©, Hat cave “Arangper guection to become rere | 10y, Pooks op the _eumerattor_ae_ “he Sear mon to roots of re denominatoe (iol defoe [op [A luner} daeee |egereml | _ CW — pendamental to the analysis_and | dosign 2 ceeds wed the _wanspec ew sFe he Fee gunction that are _ =ZA pole op ane transper_qunction generates me orm. or 8 nr natural: respoace (that is, the ole at -© generated Pa) Ore ea_ane real axis generates on Teaponen bal esponte op We hj eer x ake the pole wcation on the real axis. T= whe pacther t ane left a gole ic on sve eegative wal axis, He ‘the exponential transient cesponm wii decay 2 2270 he amplitudes gor ovr He gored eae ape ota Using votes | e 2 Given he rystem below, write the output 5 cl), iA “the solution ao Cs) = MS) EL | st? ry eee roa Gas) aC qatsia ee gece HS) + D CAEL) Lf eras Ale Ans? 4905440) 7 S$? + 4574 208) y 4 eC 54 7544 105) 4 OC st + Gs? 85) ennai a) ey G Nar oF ato &fedigroca’ of id “we _tonctant, = Arends fa POR Sap eESROAST xO A RNY STEP — pad tay within 2% og its ginal 7 SIONT ResrONse specinicarion] and the Ready Hon can ye calculated aSEW GBBessment exercise | FeopLem: & system has a -wongrer gucction, Gls): SE, Aird the time constant, Te, serving Hime, Te, and Sk5O" vise time, Te i SOLUTION: abso Tet a, Ty: A/a Res Fei tt fogs id bs eB 2) co L . exhibits a wide range of cts ponses. = changes id the poramerers Con crange Ah eee of tne. ete ONES GENERAL ft Hr eretew i Et I Pot | C(O) = REELS) t + & + + Daa om caleara fa I = | Pe de} Lie | I ee Bae vas+b) QVERCAMPED RESPONSE + i = This function fae a gale at. the origin at comes 7M Me unis site input "ond 0 eal goles hat come. com ae syste” MoT oe = |ak ake _pigin.qareretts He | spactont.|.oreed_etefon/ Powe vocation —. equal te each pe tne wo _eysbom poles. om. he tal axis generates as exeonential coturol stepense hase ‘ exponential prequency + ‘ i Tove “16k plot! eEspoNSE® exgrem: mais cs ee) 1 CALCULATION: cfs)= RIS) GE) 2 aa: (SF tae i 4 SOARS See = oppermalen ee) Fs Gexgray EC aw 2 AGH e 4 D+ OCs? + | \4Gs)4 CCot47.8648) s c 4A4 1HOB+ TESCO IH=4 Weeenssac=-q Ard Fhiae-linger2agHer A 109 ¢ =-7.984 poves = Two, eal at _- Gy % Oe NATURAL RESPONSE = cae Kh ea ee £ VUNUNUNNSEES