gue sey . coum... . Introduction to Combet sys} # Consider Liquid Level control system tohose Conbol objective js to Keep the water level into tank abo heigat’h’ ofp PCs) apreeting the dynamics of plant ta acheive the contm| objective. Therefore confersber O/p P= FE) I where e=steady state error & Controller is @ aufomotie device with error signal. 3) @s Up 3 confouler | ¥ The deperent modes oF Controiter Operation are proportional, proporHohal+ thfegrad ¥ Froportional + Integral + derivative + | #¥ There qre 2 basic control loop configurations } @) Chsed (oop Cor) Feedback comtm] system : } 3 To this conprquration the changes in the o/p are vieqsured #hroug’ FI6 g compared with the i/p OF) Set point to acheive control objective. > Feeback employs ‘meg suzement (censor or Xcev) Totet mar yy Aujorate 2 Contre Je —set pong Outlet Coonfol ef ement) _ Forward path 466) Set point sts Re P, 3} [Automatic] ec) | conten) Plane conouat element Intep outer : + Prone water > > op ces) acs) —__[ meqsuirement Backord path Hts)Eq: mathematical modet—> G(s) Re aH) rR # Sensitivity Anaiysis> let = A varrable that changes its valve . Bef parameter that changes the value ot "x" ots *% change & ja « PY change tb B 2 Es) = R(S)- As) ccs) Keg * RESI-ces).acs) - SCS) = GCS) ACS) - GcS)-4 05) ccs) ccs) Ges) te] =e KS . cy= | 6 | pg . 1+GCs) AO) Contml canonical foom—> . fSensitivity OF 4 closed loop confwol system(ctcs) =" = — 2 Let of = MCS! cles: px distuckances th “forward path elements gO _ Ges) amis) “ acs) mes) 3G(s)_ | Since mcs) = gc) 1+4@)-KS) SD. 149g.) | one) wo amis) _ 2 ae) 7 Tq ~ 3408) Trec7es| = tgp) -Go-4O fir qe-nes)]® a fre 69-ae” . “EMO 2 Be geste) * gc) gm _ . Gus). 144 co) HS) | L+Q¢s)-4(8) = Noise reduction Factor (oR) Return digs. ae EHone]”* ¥ Sensitivity OF eles CLs With recpect to disturbances th A(S) Ce. #/b Llementa X= ms) = eles Bx disturbances in F/b elements ve His) sm) = HG) m5) Hes) mG) THES) Since ms)me) _ -__ 40s) Hos) HO [it 4-4te]] HS. Hilt taes)-Aeell ms) as 2m) _ 9 ae = 24) THC) THC) | Teac xh)" Br econclt = fraeius]xo - [Eracsr-ecs]™ = fee)" _ frawac)* oO - Hes Largsh-nes]] a ey . . 7 MCD) = GCs). C8) 4@) At Ges HS Hysme cs)-HOS) ae 1+ 44S) Rites The cucs ts nore Sensitive to disturbances to ‘Fie elements Ge. Hc) then Forward path: etement te. GCs)- 7 £ Open toop Conte! system Cotcs) > d) They are condi Honad control cy Formuta the eys is aot subjected to any type OF ted under the ba cic condh that disturbances: @) In this congigueation the Flb (oy Mea surement is Not tenneded to Forward path ©r) contmer (open toop)- @) F/b éy open loop sys: except For disployin do of have any mojor sige Feance- This known as elimination of Fb 19, the Information bout op incignifcantaess OF F/e te apooronoas AANA ARAAAHRAARHKANONNA PARR. 5 4) performance analysis iS not Oppticable fo these systems becaute they are not subjected to any tyre oF disturbances. £ give ouka destred olp For the decived Ep _ (ary) P fauakoimarie gt [enor —setpt — cutee Control element) ccs) es 5 63) ~ ot © Rey HE >| HO] ad | a9 5 os) <2) . - om Censitivity of -oLcs wrt disturbances “ia Ged) lep X= mE) = oLes P= 4cs) 9) GS) amiss qs) MELO) MII= Gest) . E‘ ame) _ 9 - 3q@) ~ Hey LESH] = 408) ms) = .f ga aye VO quer The og ct sys. are shown in Figs For toy change in the Fortoard path the eesponce? oF Openloop cys. fF CL Sys Will be aptected by:- @) Jex%,4 7. KS) cs) ¢ ir b) Sop s OLY Le | 1 > ©) Apstoy RE) Gg Ag: od wwe Rig:-02 sot'L> : . a ae Opes > toy. * cics > 1 =e! Lge) He) = —1 _ xtoy 4+ 40x1 = O1y. Ans) due) The closed loop gain then Fib OF gain. S/ivo is connected je) the ys as shown below wilt be s- es) + Q) lotiox by 4041% GC) roottox A) toot 1% 4 4sol" ougain= 4G “L6H = 100 “La toon, joo CL gains 40 = —Lxsox L4H = 1. xtoy tH00xS Too ‘Axtoy = ly. ts xtow X Concept of TE» Q Tr is a mathematical model representing je cs stating Ye F ole i the form of 4 ratio’ Ce. ofp devided by Llp. fi Aprdying UT “ VESl= 16) RF ASU) vee t oe ucsy= tes) [e+es] tes) 1 vete+ ede VO) RECS at es) HL va) St Re “Tes FG) SS = NO _ _KGH2y Grea). RS) OS) Ste) Gea) - Where E= sys quln Time constant form (1478) Te= FsJ= <8) Ne) 2 BCH TaS/U+TS) oe BG) GTS) (1472S) ti) wheres jes 462122. sye.de gain PoPx Poles O-zeros, . — \ om > =i S-plane Gz diem pe space plane (@= 0-20) From eq? d) the TF oF LTT Sys- maybe degined.as the rato of loplae Oa KFotm OF Op to Loplace Xrosm OF i/p Udder the assumPHon that fhe Sys thitials Cond? gre zero. Potes. % Zerme are those ceiHcak Freq: wohich make theTF 20 OR). zex. ‘ Impulse Responce ¥ TF f Temputse signet K Step signal ay=41 yt=0 rey) =A =O +t#0 w= 1 +70 = co 4 1 1 o ¥ a = t +0 ht To RO) = L CT RS) =A cd TAR AAAARARRARKANNTOR2% Ramp signod_ K_Parabottc stgnat WE AL) 70 st AL? t>0 f i feo =o ter — st _ bt LT aca) = Tr > R= A = cos Tre Fo) = 2. eS) C(S)= Fes} ROS) Lot R09) = Lmpulle Respornce=1 CCS) = Leppubse Re sponte = Fs)xt =TeE —46) t/ “Amp ule ) w . Pf LC Pespone) ™ TF “Weipiting Function GL ivarabelreresponce) = Ramp Responco A Cramp =e He (Ramp Responce) = Step Reeponce & CStep Respones = Impule Rerpone Lenpulie—SLLLLLEPRRi nna een none reeare rr eeoonos thap--) Qua-tjThe IR oF 9 System fs ct) = +464 + 284 C40) Ike -ope loop TF toh be — .) 2644 ) 2240 .) 2544 ye Oy 26+ ©) Bee) Bt! dy ceeds SH 3 ey . So LCIR) = TF Tre oly 2 Shortcut method eri * GF Sa ee (for ucity “1b 64s.) i TEs -1+2(0+0) ew ble ‘ Open {oop TE = - Numa qey__ ase : Den =Nuey ean = SS 24 qe) : e Tee sestl Ges)-aesy= t GHEE - put ac)= Gs) = 2st) oz k Get) ced f “Vga "ery? Ges) ety Casey] Haste 7 gc) i ° 10R-@) . | PUG.) What fs the open loop de gan of Linity -ve F/b cys: having closed loop TF sty | SH TSH 13 ' aa 4 C14 qs I Sols Open loop TF Ges) = s+4 SAR ISHS=S-4 | aa Ss es49 ~ = 4(#43) 9( 1484S) 3 ra - aQuer Find the de. gath of TE: eo) _ _1o(st) RO” ST CHE) Ste 8) foxs (1+0.28) RE) CET 20405) = 25(!+0.28) SCs) (t+08S) “ [25] Quer The IR oF th: Cys: I$ CO) | up te -showa in Fy, Re” OTE t+. te t The value of bi toll be @) tim bd Yay Cte ) te Sols, Hinpubie Responce = i 2 = Gh =re*t Att=te Ket? = (e(0.37) Slaw é'= 027 oo | emte = pg!Ghapor) QE) ges tax bE oes) Tmpube Responce =? Ans — Tenpulte Recponce = LCF = {13 _ ae = seo = *G - + sdtet Qa A cenfain cs has Jp WS Ofp cle). tf the ip 18 15F passed through @ block whose TRis “&S % then applied to the sye- the mod fred Ofp wits be- @) cur GG) ct-ucty, @) eau) Gy None. Sate RFI} > ces) CCSJ= RCS) FCS) ®G)_ fet} [ro] > canes) Coys) = Rese FFs) cmes) = -eesyes Lies OS lpg) UCt-O) Cm = CHUA) cha@la) Sy Ans-cb) ©) crgpine isa A+inex8 TAAAPRARHHAINHNILA ICNP MMRePP Pere KHOA12 " ¥- TE for compensators > € Compensators in cs que Wed For improving the perForeings sspeciflatons Ce. transient 3 steady state wspone ¢[s- There are 3 type @ Lead compensator Ibis wed For improving the transtent state ex) a =~ "Speed OF responce OF Sys: ' a , Is} Loo ws) Aes ee he { vied = Yes) (Rt = i|* 100)-Ra Reset | = RaCQcs+U CS) “area RAS THRC3 K=_R2 wey Free “= es) femant Rit Ret GyRecs] Ro CRecs+ eiteel a + PibeC5 { R48 Zer at $= | Sak ex Fores aks dominant element Brey Plan, + ear >“ Note Adding a zero to 9 Sys: TF th terms of compensatoss sepresents 4 Sead compensator: (2) Lag Compensator— It is ued For improving Steady state recpone qs OF the sys: Le: elemination of Steady stofe err blo YP £ ofp. IS) @ r oe | . Utes) = 16) [A480 4 23] Ns) ied = 16s) facet eneesi] - | re | ~—~e a : Vocs) = £¢s) [ed] | wced= t¢8) facet] cs i T=Rics pe Bee : Rast | ert he) at . acs siete) Vos) —-4+TS_ . vyrcs) 1+eTS k _ Zeroaks= 3 3 poleat 8= ar Domlhant eternen} — [=z (ee 5 t a {tee za) a Pr —_— E | Nofe-- Adding the pole to 9 sys: TF in terns Of compensators present tog compen sator. PARAL AAAARARAARANNOORPPPAR PLP RPP PRR ER+ By) LAG- LEAD compensator -7 I+ improves both transient % Steady state sesponee C/s- & It enibits bet lead $ Lag c/s th its “Freq: responce. . \ 1) yft taed tog 1 im k= Ro Pe _Pit Ro dees Rite, ee \- T= ec) Ta=Race oe Mechanical Syskms—> ALt mech. sys- are classizied thto 2 types i Qi Mechanical translational sys-—> Lp=Force() 3 O/p=Uneae disp CU or) Uoear velocity(y) ¥ The 3 teat elements are $- Qi mass element > BE Q) Damper element v —[m |r Ba Pur @)Femdy , tans ae @ F=Ftuva) ety [rusvev2] dy bh FS #d Carma) = Fae Cxamexs) ei)@) Speing element > on we Pate —F Ft @) FE elurwdr= Rive -(veueva) (b) FE Ke (epee) = be (t= 4,9) @1 Mech. Rotational sys: Ip= torque(T) + olp= Aagutar disp (9) ex) Angular velocity aa) 2 deal elements are + “Torsional Qa Tnortig etement ~ @) Dampers element = Cfaietion) doors . PER meee ee T dD, FONR 02 Wa () rede QU T= Fees) = Fo(wpw,=0) - & 1=Fd = < Il T=Ta4 (8-02) = Fd6 ro 9 -, we see a GP (8-61-62) Torsionod & Spring element (stitgness) T \ \ E rew @) TekGwdt &) T= ko * Analogeous system 7 The electrical eq: of Mech. elements are Known aS anatogeous sys- FNP PeRPPr RPE RP HRoA henrameneRanangnnsau mech, translational sy 8 | Bi fee teal Al B, FER Ret ES = me evr tefudt ' @) Electsicat system—> 7 @ ae Ua Utara vata, dar pfidt [ede qzcharge] ' , dy y ede, | v= get gee EY Comparing eq" @) -@.) Q@) F-T-v Anatogy wwe r eer es, @) F-T- I Analogy @) Mech, PotaHtonal sys—> = ry{ : Ley TTh : 4 777 BM T=Tit fe+1s Te Ty 4 w+ Kfodt Tad, 40,5 «0 ——a) (qj _Etectacal Syskern— z ye Sy To Is 1 Te R be v , Tet Ietls f re cau Ya tf ustGears > ¥ These are mech. devices tohich are used as intermediate elements b/r Electicad motor 2 load. # They are used For Stepping up Or) Stepping down either torge Or) Spend, ¥ They are analogeous to electrical TF NuG CEP RARE DB N=No.of Heths Geav-t T= Radius of gear wheel(m) ‘T= Torque on geat wheel (H-m) = Angulardysp Crochions) Gear-2 62 Te Nase Dynamics oF gear train E U T=10N-m, “fied Te Ta? Gi) w,= 2Orfs CCW) » Find Wek Wa? @ M-Te 1002 10. GesN-m Th Ta=-20N-m We= 40%/s Cecto) ps = bo3= 108] Ss (cw) LLLLER ERA POPPAQbservations > Qj ene =? TH OT @) Nj=No. = There toidt be no chonge on 7 2 WCspeed ¥ torge) | Ny oT Ten = motor toque (Nem) Th= Torque on qear-1 dare to Tem (Nom) Ta= Torque on gear-2 due to Ti(N-m) Tu Torque on load dueto Te(N-m) 3,8 > Incstia # Fectivn OF gears. Tin? dO, Sd ty qe 2 Yay Bp May Oo Tas Rad'8a 9, « dee a oo Tr? Tt) Te Ty Se + (a) See oe) Tm= sag, sap ) 7230s 2 4A) sods Quin * GF eg Inectia g Lf 1) OF motor side gear: (gear) Gio OF ayer Tm= nab, 5 +(3)* Te oy ae Soh (St)? Be go (Mt) Te = Bovey] ar ete ae tale ~ eqs rt(e)iaa] [Beam BHM Jee + Te20 K Ci) €y thertia g Faction oF toad Side gear (Geav~2) > TG) See Ga) SFG gee Ca > ge aay (2) tm = Gaying 92 +) “ett dee +t ra Gi (2) tea = [ay 412. age rey = wes th a OT _ . at ~ S00 Wy motor ide gear —7 Wload tide gear-> Tenet ENE) Teas Sealy ysl Bea artis Oetinin] C2 Seem (SaMH) +(e eas ; : & Nopal MeTHoD-> — (No. OF nodes = No. of displacements: Gi) Tate an additional Node which is 4 ref node. Ci) Connect the mass ov) inertia elements bln tbe princi node onby- pod node 2 ref QNINOPLRPRLARP PPP PKROKN AA _aaerereaeenanex diy) Connect an -sPring g damping elements cither bln the principod tode (©) bfo the principal node :2 ep. depaneling on there position, U9 Obtain the model dia $ znuite the cescribing dab eqhar-each anode. % Nodal dlageasn 7 x mech. eq, diagram) fuech, system=r re] 7%, eckadeeen Gt Node x1 Fem, ae as 4 Ft bpa(Xe%e) it + Xe. at oode Ke 9 = made, ta y-hy) get ey & Transfer function > FO)= [ms Ast ht ka] X18) — ley 2X08) = [Mast te] X2Cs)— Fre XS) . . ros=|__ 2d ney m,S*> Kio Ho). __ Matt hie Kos) (mS FS + Ktei2JCmae + ee) — 2 | Mass clement —Order(@) mass element — order-6 Gi Mass element > order -4 ny mase elemenf— Order-enE * Conuy2) ey “ page a F ~ = ve Galle age Sade te fate dt oO= Matra ie i) dt ty Ry F-1 Anology > fe dt oh My ESverr SGi-ve) at ode | ty, - Deedee fara @ol'Le - Nodad dragrom = (mech, eq: dita.) ht Fz Kee fat ap QEORRRER PRRRRR PBA nan it | rene RARRRAANe ngsFe onsets + Fie -%4) baad media Fag ant) + leak F-v-analogy> Us Habit 4 ie Ciria) +a (oar Of ladiz. 5 eucie-iv +4 Jredt q & sAt— 4 a 3 1. 1 __ {| A | _F-1 analogy * Va. 1 id Va ot fs + 1 gp tet aide. Vit (ved i ° ode Wow st) if Wy &2 ve RRB rena rPy x Kee? re, at node X17 fe min + Oats Fn t #2 (X1-X2) | ___.at dummy node x—> O= Halx-x1) + Be. cx-A2) | Ot Node Ke OF medi 4 SredXe “+ tore tbe (re) E-vanology > ve ud ae tg fide feb d+ qj OL Fit) dt Ae (ot) 5 E O= tage aired tedet Rra(ie-) _. |28 a7 at dumeny node) Ss [ FE ke) : ps a a4 ‘node Ya) , O= mds | Bde, cyan et apt te ) g boxe) 1 SS, 4 Loref Fe dee 4 x en = e st Given -mekat Fc) = Unit impale force =d Xe)! Fes) = (SL) xe) aoa x)=! Fes) Shr H O= aXe HaCKO-KI HBr CoH ey ee a ie . fe : [ketene 013] Xoo = xe@)(ercei) Ha Xo _ H+ ens) Ai8) ere $815) earKx fe 7 At dummy oode'x > at node xs Fe Kx-x) — o= gent ft ag (mK) EE KeeX) Hone m, ae + 2d org) Fem + wig ew x2) ——@) At node Xs > OF medina... +02 des 4 euxet 61d cere) ae ay F-v analogy —7 vs tod ertier 8) o= adie a Poterd faa teiCia-iy) co QDFAOPPPMHARKRANHAHAONNAONHHODOK PBK PR ArT Pee 2aNet __ F=L Analogy T= Cdbr 4g UiWe ae te O= code , Va yt (vedt + Yarth “t gras * & ~T® [a bs) te At node Oy + T= T19°O1 + Gr1d9 4 k1(Oi- Og) 0 a? at. Jeu Aaclogy > = dll ge + Lf cient — sae +8 (tek O= Gd Radars Stadt th (eetyat At node 82> By = 7d + Sadia keDotin(oze)a & 6 Lal a be Ro i %. ites iw vi Lu) 7 L 2 ~ 1) -T Qn | 2 a TI gnalogy > TS CSR +l) +f Orrve) Ae Os cada «(l2) 4 Lf veut pire LUD UPR ERE PE: at af IIASA, YM 4 Ve I-A 2 fee! |Block duagratn poles Original ditagrarn 1 Combining: blaks x a fad vie ig series. i 4 Combining blocks Ei} — én paraitel: x + ESit6a] a] 4) Shifting the Luenenitng elements ter the blocks- J Shigting the x summing elements ——& - —-Qy—Pasit Ae, reFore blocks A, te . | Shifting the tobe x ‘ Deg point agter Ls rs he block % \T ) —l1— before- . the block. “al E xq J.T of eves. R eH } Block aia. sans formation a iT fe Ea: degra < {548} KGiGo, x ~_a6, $42} $9 [25,4 [ES £42} —or[Esitay] z x — af sitee8) “fet 76,4 X26 x — i [Si %4t mem 57 |x, a x) Lo[t}ox xq Ss 2xG FL} x8,94 Tnterchanging the Summing ele— mments- CRITICAL RULE PRIPRE AN 10) Shifting the 4ake-orF point abter the Summing element x be W —Il— Before oS . ey ey Oo & es ay b) ; a @ Qe © ee , e 4 _SIGAL Flow GRAPH Ibis the graphical representation oF CS (7 c: Which odes representing cachor the System Q_ variable R gre connected by dicect branches. oe SFG for cLcs> oe . aad 2s) ec - cs} RS 1 ES) Ges} os) ony. = cs) i ee 4 o Teeminotogy of SEq's > « @) Node Ikreprsents ys variable ‘F is equal tothe sum oF att incoming el signal abit: : eo . , e& @) 3/p Node (on) Source hode~» It is a Node having Only Ourgeing branches el ” #@) Op Node (oF) Sink node—> It iS @ gode having orty thcoming branches- Ana @) Mix COB) chain node It is a node having both incoming X ourgolng branches Ibis the traversal o¢ the connected branches in the die? OF @) Pa branch arm Such that no hode is traversed more than one- GI Focward path—> It is a path From i/p node to Yp node Gi _Loop> Lis a path which starts % ends at the same node - roter (YS Oteop because because acs) aS 2 ele sabieopy cs Yp node depinaticn, Nofe'- Self loops on the defined Yp nodes are not Valid tops. F Loops (0) Seli-toups on the defined op nodes are vaktd loops: 3) Non-touching loop$—* 2 (or) More {oops gre sald 4o be hon-fouching UF they donot have a common node - | * ok MWASON'S GAIN Formula > | The overatt Goin = EP Ae - PA, + Pada te +. Pere CR a a transfer Function wheres pe= Path gaino KM forward path, Joop : Az 1-|Sum of all gains 4 [Sem oF gain products OF atk ta duviduas| At 2 Noh- touching sore loops hess ees — [Sue oF gain products OF 8 non- touching loops] Ag = It is that value of A obtained by removing alt the loops touching Eth Forward path.@ Fonvard paths P= Gi S2Gs6q Be &Gs * case-t) Ys Yi di Te Find.t > . @} Individuad. !oops a= - Gata Ig>-He Ie=-Gsth Tn =-GyHty 14 = -G243Gy41 &) Two NTUs > ue hte= Gate = Go Hattagy o> Sig Gotta i) To fing 42 42 Aye O2= b Yeo. Part P2d2 YS. GiG24aGe tGiSs UTE 121+ Ceete) 29 OR Beat Letut Gat) 2g VIE (21423) “1928 Ta Ca t2atee) 123 qa ci, 2 Ja=3,. 29 ast Bay : \ 2 nneder the TE yHes Tapes rey Sita sartables as node i ay teite zy Vo 7 n the given que: = ‘eqy ares za Bree . AAATIAANARAHANHO MONO ADARA HDDing Ye ¢ Jz using ge Find Rea BR ing SFE Y= Wit Weyer bY Yo= Gui t GerYor bala solr | uo casecy> 2b actcccces case) Yo Ye. bide) Yee beG-an) | ‘Be I (ayy Fae t4y242}t191%22) | | Soy Be) SI oso Se GH C14G ata) +5649) Gy (4 ‘ TA [-6 p= GuHty Galle -Gae FE ait guy + G,HOOSIH| $Y As + GaHaSuity)eqse(2) Co = G, t SO I gay, EP Slsraen) ee yont) Casecs) 2 Te 2 7 Sslarseite) + GEA) 00) Caseca) cy ¢ Ba| co=R=05 ue Batt Gete) +43 Cte) | aA » Basa} . f 58 femts +t +x | - FO)= (mst ps4) xO) Xo _ i FO)" WE } = dn) | 78) ANAALDA RAGA ANON AND P CRAPO PIPPI PDD |wr CS) = SHUSES = =~ RE) SB ESSE IO © $02 wy | Sy us ge acs) S83 SUS gt ot, 65,10 ——— 1 St 1 | EF Galt) = Ge 1 Gitta Gasite) EG vet gaeltiit’= _G42(U+ 4 Ga 1 C91 0d41— G2 GG 2G5HiMta, {Block diagram» WON, Fz Ps Yes {ai Ps SENG t YGa plo i, Gr £= YGa4x GoSagarggien 88716 53536 C= Sat Gs 198 (x+ a2] $b ee Le} Porollet= 1463 | Feedback = 42 genies= Gr4Ga_ G2 146.42 L+4eHe. & . & [Sere] ig TS | [=] Hy Gi Geta) "Fate Paraited 1-95 tGette) |g 4st é exe. 2+ -Ha- Ghats Fetesfads > Ve SU +404 GM teae) Gen? Ye 24, x 6a 3y Block di'q. seduction—> q {at it [S «0 La G1 Ge4Ga) St Getet G,Gehh GG ARS Lat = 24+2¢H" _ 2604ou) ta? 4a) PPR DIRSols tv By te tGot GAG2 TGS ¥ ¥ 1 GHiGeHe Me “LG aiGalt : } fe. see Elna me ian | n@,eyaeRe A} Cas ¥: Gott Casecuy Rete 8g SE —y,- ¥ ae -a LED TE for physfoak systems—> KA general phiysicad sys is Said to be constituted of “5 elements 5~ Wd Resistance type element ‘2:1 Capacitance type Slemet= 3) Time >fonctant etement: LLP 2) Oscikatory element. 5y Dead time element. QL) Revistance type slement > R= Hydraulic Renstance HEE RQES) oe > 82 fe} acs f Jtis analouges to ‘electrical reeystance oR paren Vv ¥ vert ves)=er@ "9 raps vg) nw Lal@) Capacitance type element > aoa. | CHydrautic capacitance i “ce! (Grea) volume) 9-9 ? x dh VA ~ qed dt Qad=cs Hts) 9 f¥1—ae) It is analouges te Sleetwical capacitance” - = te edu at Ig}= cs vis) } vcs) 5) Tume-constant efement—> Fi-Yo= odb dt Viz edh ett Since h= Rq0 eR . zedh b ate Rare kedh gh ROCs) = (RCS) MCS)Itts analogous to Re Ofw 16S) p Vics) = 105) {e +24] go in dis) >a hes tof eset] Vots)= r¢s)_t_ cs Kosy} yo OE 4 . # Interacting £ aon tnteracting system —> Ve = cdbe . qy-40 = odbe i ot Gir) FQ c9) = 54,05) ———ai) Qc 9918) = CSAs) — tip hebar er ho=Rdo : HyCS) FHA) = RAG) —1) tras) = Rag¢s?) ——dY) RAPP PLP OR Par oA ARAL PARAL |Ty 4s Bi) ae ee H2(3) ols) = ay, 2 ese Fes RE RS|* FS Ay secsel eee aeereRes +4 | — I Ae I ‘ Le aca GJ Current fhroug4 Yq Ge Vo-Yey =Voes @) To find Wi Tae WYO Y= Te2a4Vy = W= VolS-R4V0 - = vo(1+Res) &) To Find To Ta= Vpye= Vo(I+Res) cs => Vo (os+ Ret: G@) To Find © Tagg = Vo (cSt 'Res2) +¥0cS = Vp (2084 Red) &) To Find viNote-+ + tohen 2 time constant elements are cascaded interactively the Overall TE OF such an aveangement is not the product of 2 indy utdual TF. eo S S cS oo eal pal pea ol Tank-ov Tanke - ae weak a nae trans ea Ge ody i= edbs 9, Ejnce y= RA . a? \ 1 : | aah Bi = edhe «be w= ht by © be=Rdo) bys ee dba he age be 45t dy HC) = (ROSH) Ha) ----d RAI) den) ns) —--- dd) ics) a). TT Htets) fac _ est Rese Pa, cs) “cateyaEE ST at a -e wy Ls vec) | © Wy) Tey OC) , Tf " Ve) pee | Mee MO ter Pe Le te ts) , Vo) _k Vig)” Gest? Note hen 2 time constant elements gee cascaded non-tnteractively the overall TE OF Such an Arrangement is the PrductoF 2 indi- viduel TF A Contot sys componnts—*_ Cs there are 2 +ypest- @) Tranducers > 4 Xcex is a device which When actuated with ore Forrn of energy is capable oF Converted it toto-any otter eto Form; the convertion is. Wtualy From ho-electricad + electrical» Qi Servomechanisms—#They Ore electromech, Cys: hose H/p fs ele. vol Fage g ofp is mech, position Con) Speed. + They are glso known as inverse Xcess: Servo - low power [ow Freq, apphication + The term Servo indicates low power Z low freq: QppLi®. H 9150 indicate? shat the Wp % ofp “os must be approximately Dineqr:Sexvomotors eS — Ac Sersomotors de sersemotor Armature Field Confroted Confrtted & De Servomofor—> tq ea Re te, 1 / tea : = Qrmature Contotled de Servomotors—s Anput=eq ; output= 6 (08) to Principle of operation? “ey Alc gop Flux & Field current G) Back emg Ceb) &-speed (12 ow w eb= leo e date €b¢s) = Ketocs) —<2) wb Te gf - G) Anady eis ‘of atm, cunt Tastee gia § ege taka reb Ta eee eqeeb= taka kere motor torque const: Eqs) ~ Gets) = 1915) Rg ——@) Try= Fra G) At load Ten(s)= bya) ——)) T= 32 4 200 Tecks) = CTs+@) tors) ——q:) “4 es) L [+ _ woe) _ kr ler Eq)” Rg(rsea) = co Ralrs+e) +! T+ ee aA(TStB) + ere “Pa (3948) ~ 2 _krieg_Htfea T8484 krkb TstF ct 3 a4 wo) _ _kriea as Tet ote'= The TF Of arm. confmt de sesvomotor has q Single time constant element ¢ it represenfs the +/p conto) mechanism Qs-Seen from the block dsa- & Field contol Servomoter > Lp=*tz -4p= 6 (or) vo Painciple oF opergton—> ay) Air qap Flux « Fleld cuncert @.) Bacle em# feb) xSpeed (wy) © @ <3} abe kato b= kepte cs) = KEES) ——@) 2) Tene tq ©) Anasyeis OF Field Cireutp Ten X tei OF Cee t+ de T= ego = Lees) [et eS] —O) Fre motor torgueconst: 66.) sat toad, ws) we ; Torque 1 rotor Load oO €c Te pr | 8 (oR) ‘ Aetage oo Compal winding oer — 2, rez. winding B ccevomon tet? -~ , Zeemote 8 LULA P RARE eM MEL OY K It fe constectionaly Gmitar to q Xd ind motor, KOut of the 2 wdgs placed ty quadrature. One of the todg isemcited| by For a constant vol: % is Frown gs rez todg. K The forqae developed by the rotor is propurtinall to Conbel winding Vol- & The rotor of Ac. ervomotos is burly Lith hig4 reastance so thot its x ratio is Small torgue-kpeed c/s are approvimately Dinegu'sed, £ fm the TF modedting ance the torque developed by the avtor 1s pracor. fional to conto] winding Vol ;the resctonte 2 indirfoow of the Conpol wodg {s assumed to be neg ht gibte.4—— Trots) = lemEcts) —-----W) St lood> Tm= Idw at BLO Ten (= e+) we) --- @) From egw 2 fern cts) = qs) WGI @) ha Eee) Ist (am) wheres m= comction factor. slope of N-T chere}s: # It tq Voriable eevistive displacement Xcer used as tmor detector th CS appt . & @ pair oF potentidmeter act as error detector. Input = wiper disp-Xi_ , ofp= &0 Totoa weristance of ‘POT: =Rp i ‘i =e, Reeistance/for nit Length ft Reastance for wiper disp oF A UNITS = REXApplying Voltage divider; eo= PPX om Ex xet’ Re p= Kt ej xe ee let kp = por gain = et (_v se Gra) Coe lepxt Eo(s) = Kp Ris) & Tachometer—7 # They are speed Xcer uded 09 F/b elements th cs oppr. K There of 2 types + G@_De tachometer —> These 1 q Smast de gen® whose ip is mech. Speed RYp is ele Goltoge praportional to the fpeed, did_Ac tachometer mht Ort" . ° con) IL en rep wdg. & Out of. the 2wdgs placed in quadrature only one oF the todg iS excited by constant Vol g is Known OF FF: todg- oy ¢ when the rotor iS stationary the peripheral Flu Lin|es the rep dg = only. AS fhe rotor rofcite? the rate OF change oF flue induce? an emp st — ey& 53 which is directly pra postional fo speed of tvfor. The ac fachometee ie aldo Know af drog cup -gea® becouse the svfor Fronefertity ¢8 of drag cup shape Transfer phy 4 eo % Speed | @) Anpuk=6 , o}p=e0 I t/p= Cok dO Ofp=eo dt Co XD cor kr de Eats) = ey 066) Eo(J="k7.8-O68) sce) Pep bs eo 98) —figs | QS) x ° where; ter= Tachometer gain 5 Ee The TF of @ tachometer ECS) jc a) | Gres b) KS* JK dk | 7 & SYNCHRO Pumbett Shaped votor Tt is commessialy known ag SELSYN OR) auttosyn It is an electromagnetic Keer which converts angular portion of the tor into praporHonal Veltages-# It is confructonaly similar to q 4 attemator but operationally al . the principle 1s based on Ames Qetion, & when the cotos is incktned along any one of the Stator Accose Completely then man Vol, will te toduced to Adak wedg.g° DegNigible “Gol. js induced in the other 2 wdge. K Such a potition of tofor is known as ele. zem position. £ A palt of “Synch Enoudn a3 “eynchr> Xmitter 2 Synchro contol Amer- (arcelyer) Qet 08 error detector: i € The Kmitfer evtor js dumbelt shape 2 th 1 a ao Force Coit _ ay 30> apse ; ofpex | ezinetst it Uy eb e-eb= CR + tal | at Es) - Ens) = Ics) [eyes] €b Ctranduced Got.) ebw tds Eb (8) = ey SKES) — --- ~~ a tohere; KT = Tachometer gain, “ aC At Force coft Fot Feee Faj=e1e@) AL mech cys: Fe mda | eda ote de FO)= (ms* as tie) X6S)- -- Tr deals with the nature of sponce OF sys tohen Subjected +o 90 I/p db Steady state responce Qnalya's—> tf deals tolth the estimation OF magnitude of Sttady Crate error bin YF Ofp- Tp ees) t # ofp ccs) Transient "Steady State State Analysis Anatysis “ k Standard test cignal?—> Wy Sudden -f/p —» step signal . 21 velocityni/e > Ramp signal Tnedomala B) Acceleration type i/p—> parabolic signos ” G) Sudden shocks—> Impulse signok = > Stabitity steim The transient State analyais % the tran ster} State Cpecificatigh are degined for Step signal only becautse the magnitude of the i/p 89° shoutd aot change with time. EPEP PDD § wallet SaaS fsa ts So SE oo ORO7 SK Type $ Order Tiree (1) Every TF reprecenting the cs bas certain type 2 order. Y the CS* (2) Steady"etate aeoponce analy ms depands on type OF &) The type oF the cys: Obtained From open loop TF qcaycs}, by opcerving the ho- oF Open [oop poles occuring at ongin. Let Geshatts)= _K(Lt Tas) oP eT) peo, type-o system pea, type-+ systern PEO» type-n cystem GQ) The transient state Qnatyecis depands upon the order ofcs Gi The order of @ys is -obtained From cloced toop TRG! by Le GOA) Observing the highest Power oF q cle eq. 14-6 (SH (8) =O Position Confrl system j Pot-4 pore toad 5.8 T Gearscn) d Ara, contoted | Ic seawomotor- ia = 58 ) Yp= ¥ [csi = 1 Go) p= Rel] , -ofp= e+ ecej] Vacleeaxte oe @:) Principle oF operation Unc) = Eb(S) = TatS)-R ~~) = WM potentiometer SP ~ Try= 74 _ ada vee’ ; apt ge SE Vo= kp (HC e a Tints) = 54 8 SJ 8¢5) -—-—-h E vecs) =lep[RSI-cts)] ---- dy ines) = Os% 8 s) OCs) wi | @) At Armee dvs At gears k Vg &Ve can 8 5 lq =kave cand E Ugcs) = a vecs) ----- ~ (3) = NE) -—-- Ui) . | GY Analy as-oF QM. conpoUled . de Servomotor T= kr Iqg(y—--~--dy k b= +,d9 a ay EUS) = “kp(s) OG) —- - ~~ es) Vecs) Vacs) Kp ka Ly ‘() | Anner Hb loop fr Parse) kr _ flea Racatresy+iqhe® ~ Fe Bsr erees a -. Fs59 a) _ - | as) cs) — wherts c= kpkplern Rq For type oF sys Order of the sys. . : 40)" aay sHGJ=s St4GQ)R@)=0 GO)-e)= stsys7° j . Gastp Ts4 fst K=0 Type= t g id era 2| i Skody state Respofie analyeis—> TY deau With ect mation oF magnitude. & OF steady state enor bln t/p-g O/p ¥ depands on type of cs. Eeor Compensation + qt & Sit Le (8) Es) e der |] c Rel OW Fo Puan —( ae co) : | BO) |__ [ Weasuremenf 7To obtain an expression For etror Ey= Res- BCs) Ve AP ca) = RG) “ce SHS EG) = RES) — E05) -.G 5) 44S) Ges) [14 c-Hes]) = RO eq@=_- Rs IFSC enor Ratio Notes Kince the steady state ear 18 deFined 95 the ditt. bin ip 2 Up, the type of the sys: g hence ckady state error the F/h to Find esse tim SRE $90 He GCSES) eco= Sim £-R (8) S30 Ly Bien FES $90 gain should be unity [4¢s) =i] XK For non-unity Fl lb elements they Should be Specizied AS measurtng elemet Ce Sensors (08) Xcer element: 2 To obtain an exp for error with dtetirrbance > RS : ile ~ - Ves 4 ete k te : op ——____=: tim -eq)= units aad Cex) econ tin e ee = en eC) By Fur lee = i'r $-E¢s) so | ec) a a os oa aw) ne SLLLLLLAD A SOON ONE Ie eseded 9 BE Sa a€(s) = Rcs)- 8(S) ECs) = ROS)~ 0(3)-44(58) + es) = Es) aus) + De] 6.) | CS) = ES) G,(8) Hal) + 2CS)-G,CS) ECS) = ROS) = Ecs}-Gi(s)- G a(S) (5) ~ DES): GaCS)-HCS) €c) far Gi(S)"4,(8). 43] = R¢S)- DES): GCS) HES) ec) = __ RO PG)-gaCsJ HO _ Ta@a@agy +4 c94cIHO lecg= him $88) him S06) 4.09) 1S S70 LEGG IHS) C70 LGUs) Gels) 45) egg=—Lim S265) GS) S90 14,68) Ga) QS, =F, kK -G2(s) 1+ Gi): a) ane-g) |. eae. tll, 7H | esol by Sit } *#S g; err for! rent types of Vp > twa fep= Position eer constany} A = Lim. G00)-H¢8) Tt FSI-MS) 8-70 a EPte Gea) T+ FP 1 ees = AL Itlep8 @) Parabolic signal Ros A ™ oF “ ess= tim AA a esse tim 3A, J 1+ 4-AO svo_ 53 = dim A ; Ene) $90 SF EGOHY A 4 = A fey 24 dim SAgcsparcs) Ra Henao 8+ Hin SHO GS) ere =a ¢ ‘S70 Kaz Acceleration ermor const- ‘v Flim qs) 4) ky =vetocity “err cons}: E20) = Lim 8-4 HS) 90 . teady State ems For dibterent types of System > Type-0 + * qcs)atcs) = KU+Tas) HT) dstep Tp ) y ’ : ; crehoe 4) S$) Parabou's tp we & N= R= 4 Ray= A satim # 4 Sh, S90 > _____ | ese-= im ¢- =i 7° Tye GaTas) sem tint 8 esc= Sim Fee urns) TF KC+TS) =f Cats) Lpsin~y KOtTaS) Coc= yy 4 $79 G4T)8) Gay SpesitTas) = AL ans) T+e =] =e a de 4 . egs= An egs=e ole asa [step toput | Rampiaput| Parabolic stern put | Romp pt | mee laws Tat | eo ! ew A | TyPE-O TK | “ 0 a8 ft - as =o : J | kp=k _Kyz0 | Re LB epivte |Tupe-1) | ok 8 - | eae lace ° } | kp | bo 7 ' observations 1) essa t [ a) SS askt essl ; G1 The max type no. For a Laeger cs is 2° Beyond type-2the sys: tends to becorne Unstable 2 QISo exibits PoN-Lnear c/s more dominatly. @ o> 28 8 EGE 243th a4? Shortcut method S*(a45) ee “ R= 24948 type-2 oes poj= 24348 =h 2s%a5 +8] = 24348 exe #020 rtd “Ye essa 8 A F Cars) k i ecgadin 2s%4as+8 ace, : £90 Set a0 eckg cdi ALO, 212 £10 10 f Sats) so GTN A@ ¥A)= U-¥) suc) shortcut rnethed_ Roj= Be 37a 144) = a -4 esss ate #Q) =3 _¢ > Ss. tm & = 3 ain --4m SS rep & 1+4(S) “Ta =_3 _ 6 TF t/pis not specizied then Atkin Ge) tim -s?ecs) Floite error (9 taken, 40 30 ) Tyres Syste oa “ase -4 eae Type-0 esc= _! Tle k= kpe tim 10 10 So SISTED” 5D ecs=. = 89 [> Steady state actuating ee) os) ner - | Plant I Controller Cop) _| ° Com Pen sertore KA controler] compensator ploced in the Flb path compensates For changes fo ojp % a Steady state actuating error signal effects the dynamics of the plant to acheive the confr| objective. £ In Such cases ‘fo “Find Steady state err twhich 1s theicy: bln ip ¥ Ojp convect the CS-into unity F]b System = a xs) Stst4) C+q) ——? W which tp witt yeild constant error? @) Step Wp, G) ‘eqrnp i/p (I parabolic i/p. cd) Ampulte tp > ~ RS) ue —t a Steady State errr For the qbore ip? @ wet © K det soins ok Res) SCSH C844), Le K¢StH) scat Gta) - ko SGSTUGTA) TEGO qe k sf Coen corayss Hosta]| esc= tim AL . ao #9) 70 — pi = 1+ Z SCST OG Fag RTT =o = kek - Lek ~ kEx-! Css= KY - ea qns-Ca) $@) ess Xt aH, Qusy US _ _ se | es) * eXCaD 7 (4 May a Expanding r(t#) Using Taylor Cectes eA = TGH- THAY tHiO- Bey + s » % 2 ~ : ewe eas. ane % es = rc) Sea) dr tafe Fondr+ Fey JPecodr-Fe (edn. os DeFioing -"" Dynamic enr const's” = ¥ 2 xe Ko= Prenat = -[trandr, ke=) Teer dT. ke=-} Feay dp. f 2 4 W= kort) +H 5G) tke Pad+ ety ess = ity set | To Find dynamic enve constants > Se SY Naenle NDE Constants > i key = FO) = fcr). e tap ° é = iy Capen Tae oF. . de FCS) sm J F0-€ at = J Fendt >to aro = Alen eTdp = - THe Tar Pa tm decay = Sten ~( rFc0).8 dr =p Ro= chim Fs) so k= Lim d ea deh koe dim —dtecs) “S90 Gat wheres = 1 =< Oe LF 4G) 4) ‘ crv rrr wee ag ) & Relationship b/n statte g dynamic err constants Gt Hes) = _1oo , s(S+2) G@) Static errr constants @) Dynamic eave constants- fe too i ~ kp= Lien = eels cel oP So 8 (¢+2) Fo 1+ GopHis) ~ 1+ 100 Scere) kys dim £100 =s50 koe Lim FCs) So Alte So Kq= tim 3% 100 S90 “e(e4ay L+aim 100 = jqe0* k= Lim & Fs) 0 Bros 4 = a scs+2) ds FS Spastioo = (S425 Hoo) Ces4e) — sCs42) Costa) (e428 F100)” kim depg = (O+totloo) Cot-O _ 100xK2 . Bro ds —etorioy? oat :n ta=+] frost [ky FA Other however they Need aot be diceot reciprocal Value because the dynamic eerur constant ate destined For err Series- Statre 2 dynamic err constant aee inuersaby related to each = Quer Gis).tcs)= __ 100 sols Uy Ber ratio S(s+2) Find ss For sG)= 542+ Gi Error Series # asj= S422 esc= tim cya bees tte Fro Kor tel te at + J ess= him s os42) FE) = 542+-29 ko=0 $30 = . “Tr 100 FG) = 0222 Dk AE ; S(st2) tw 0) ecs= 2x2 2 un}, = bs Too = & UOits eae Pe [oxcseebtx2] = Shortcut methods ° Tyre-W Rem Fn es= OFA E Rites lo A=, k= v= 50 ecs= 2 ©uy si ith the Mature of responce OF jent state analy sis —> * It deals with # i a_— ays: when subjected to an tY/p 3 deponds n 1 on order of CS — ce). bo 45 GG) > Tasiganae™ yy aero , > chem co . . RG. ity = bo = gain = ba et k= gain = 22 Cg os) re }-** acs) Ex'~ Sensors] Xcers ~ cue) | or rH > , > > > , » » > > > 2 » 2 . » » >t e, Storder sys es) _ bo Ee) G1S+ Bo ao Lot kT gatt= be oO t f T= time constant = U element do se) 2 _K “Ees) "TH TS EX Re afew Vots) Vic)“ Restt: Transient analysis > tet eesj=4fs es)=_ Ke S(1+TS) = _k [ — 3473) = eA f S 44s. Coe -kC-e Ht) tim <4) =k | hoe At tO ,cW= ECR = 0 t=T, CH= kU-@') = Weak i F=OT> C= BC- 64) =(0.96) fe The time const is defined 95 time taleen by the eeponce oF Fhe cys-to teqch ca% oF the Finod value. Lgutd Level sys, pheumatic cys's thermometers ec RL O/t0 are eg. of 1St order syctem. Fo, } | / by —>-———————» CH = kot Cey-koye HT"Cue g Catan 1Storder Sys is initialy at reat ¥ subjected to sudden fp at +=0, its eesponce mraches vis qs % evantualy weqches cleady state oF 28- Find the Hme Const. Sots ce tec et) sel Uh SE=2 ot t=49 tte2g- et) 2eNT=0.9 4.98= 6(1-e?4) TC = to uct) 5 eS pos Rei dp wa : c= _to . 5 5 -24 Un(o-ol) . ccs) SE base } c= 5 (1-82) é _ I Bien cc = tas |= ¢ L } 99 ye= 4.98 ‘ ' Fxs= 495 fi, Que 4 theemometer having tSt ordesdyngmics 1s Subjected. fo Sudden, temp: change of ao'%-is0t. Tf it has 9 time constant oF 4s. what temp: Ef wit indicate after 4S +J ” soty CH= kot Cg-ko) et T s koe, - Obst 4s. (0e| CH) =180-4(0-1c0)e4/4 kizadl @ SA) = Jos-6% DUET The Trop the 1% order sys: is 2. Res) 1+Ts The type 2 ese| unit ramp i/p VE @ 0,0 b)o,T Clit, j4,t Sol» @sjz_ tg A+Ts-1 Ts | FFipe-1 system ess= 2 where k=ky= tim Zot Lt K Sto TROT EE] 20d order eystem—> moe The respone oF 24 order or) highee order cys: exibits contineow GO) G sustained ‘oscidation about the steady state valve oF i/p with q Freq Known Qs ‘uodamped Aatusal Freq: Wn: : | | This oscittation ia the responce axe damped to the Steady stafe value oF Ep using appropriate damping me thods, the damplag is mg thematrealy So preered 09 darmping ratio & (4). gi Pomc Undomped Natural Freq: tm Wy 4/5 ——- damping Ratio "6 Cgeta)”" joc) -_wone RES) SAP2E ty + Oz LUAU eee eon? p90:olp= angulas deglection oF pointer (9) T= Thertig of moving system , B= Inherent Feiction k= Spring constant. | deflecting torque (Td) { Td= 39%, 640, 20. Tacs) = Crs’ as+k) OCS qat “art 4 Td(s) = (rs* Bs+b) O(8) ae eS _ TS) Se BStK SH B Stk 7 2 Pr Baga K = S426 waS + OF }- rr © z 5 26 fe . Exfs[s 26fE K’Type'of std. 2% order system— = _ wet Farge tot qs) = _we SRE OND vy oe (SJ = = cy ac) ch Type-t sy: f Effect oF damping on the hagture oF aesponce> 34 2E WS +4=0= 728M y t [a ere G ae g = G2} + Wy Ce D=GP1=9 >qat D=G1€0 > Gc Degriro > E>L ~Fkecs)-F Un-darnped Case (&=0) Afr _ Casece)-> Under-damped ease BEC? Criticaly damped.cate (EY Casecu)-p Overcamped cose (@>¥) = = t Feg Root locus .ae Most of the cS Are designed g<1 became the esponce can be analy sised iizing more m0. oF performance Specification (optimum Valued oF & in cs decign are bin 0:3-0-8)- KE The mop loci FOF ad order sys obtained by Varying thedamplng mato g 15.4 semicircular path with @ radius oF on breakaroay point at a ton 09 the “ve weak axis- cfs OF undardamped Sys: x S?- 2G Wy + WH=O S=-GWyt [G%=1) Wo For G4 a) cos6 u awh. tone= J 1-6? & 2.) Damping cofFicient (os) actual damping (or) damping Factor X= Gt0n 3) Timeconstant of underdamped responce T $2ot Gon 1) Damped nqtural Freqr tog = tonfi=@e xfs J Fer ger SHEA URE Ft? = (54 Guan)* Bde tual damping _- G4 _ Hical damping “DA” & ! Damping ratio = Ac Actual damping = ton, af=y G=1 Actual damping becomes critical damping exitical damping =17 X Transient anal Sis (Underdamped Responce) let ROJ=EE y e(sJ=__ton SCSH 2G +104) ays £-St26ito) St Wy + DF coeeee = 1_Gté0 5 7s a: eT) St guon) AF WdE ~ Gy Geo eay? be fae c= 1- BOM cosmogt— & Eat pinoy t- & time Tage c= 4- [mee [. 1-8? Coswyt +& seat] °S ARiowt Facocwt = [F5e ein Foot +08] fi at Se tof rat stan -eth Tet Tolemnce Band _/ ~. @) Delay timed) : t= At°FE secs, Dp 2) Rise time) > 4 attete 5 HEL i , sAtoate fe th] pete Bia(tedt +8) = lod tr +0 =TT paeate —— fin (wdtr+6)= 0 ved = taal (AEB) vad, Since sin(ugtr+9) =o a7 ) Setting timects) - For 2yoF Tolerance band ; ts=GT —» “L secs Wn k For 57.0F foletance band + tS=8T Bay tet _ @INO- oF cycles a Wd= fd 5 d= td (yctes = arr \sec 9797 8) > teKfa > BFE Coyces an 5/ OF TR > tsi tq => gad aes (seeg(cycles) &) Teme period / Time iotecteat oF damped sinusoid > Peak tiene Cty) > Atte tps ct) = max™oatue 4 af cUJ=0Af a-eSttat : > a See rncaat ol] =0 ant + COS(wyt+ wd + Vin (wy 440) ef eSeot =o G20) i1-@ a ae a3 O- - 4 conf > € + 0 (t2yt +9) Od = in (eyt-+o) 2 YEH ue Ve => Sin(wdt+9) wg = COS(wdE+O) = EW “Som Gn = tan (Watt O) = fan8 tan (airy 6) = 4a08 teat = OTT é& t=tp wate tp= OI bec, o> pte Maximum peak oversi oot Crp) cw e4pe7 - lacy % = 1g OY gy, ; Te | sin (wd 7) = __. cays 1 oO one ca) = tte ae mp= eH] ne =o TUTE So Re Tr