Se S142 Design Using tog compensation tog ompemmation | GCs? = _2 s¢st4) ke (s42, Land eompens ata k Dy (ss eee! k= 44 Gai Velocity Lewetant: Ths a dgpesd tyshem, (3) » tstsp ik 2 St? Le (are te 2 COs Est) tet Soi stan” 13 ee Te + Ot 1 So the error = aoe a : ma, now Im dredtucs Sebpese thin error enced the sped fication. Then, A ley ermpennation Se imog ir 1mre - veo) Desivea Ky2 72 se ee 2 Te nee 7 bot K So vets) = Ke + hee eg eS ce ee ee Soe aS Sa Ulsan WC DEs? DA C4) ats) coe ste. S472 Mou Geis or, StH) Seu Pog 4+ 0) oo che chose cnaves wp Bard 2a ttads to avery slow converges wt romp yusperne error to ity stindy-séate wotut. Se, alternatives, _ L Vetevater TR eens! write elevator, excluding trim omirel Sane 4. Propordvend feadboue: fits Teta eee ie a ae Ceed compensator D6 8 6, Lt 0Ga. 5 rae — oe 2E- BIS selected becaure the plant already pan two zanss af — 25, 9nd 2Oc7 Y Also, Hee sped freaham ty 228] Pernt ls Cte Foran jalan) secondo 7, overshoot 107, = b> oe system! © Proporhioned ferdboute doern't satisfy % pak requirement vo TW [so Type-9 system, 59 ess - . 14 KDte) 6c? fer preperttencd tenaveley ) Eg at te Ke Loo (25 x 9-7) wa oe os For lena! compenrator 5 = —~—_____ = a ss Teoma. sne PEK DU Gle) AH LS x Be MOTE Be” Coxost 2 910367 Comments: Open (oop poles. st 55 tue: Sys VS = Gs HE Ton 2 ET, BEM sth OOE EE S96! Os oaus, Fon OES Be 0-06 panes: = as, 28.9 Thin Is = Feunth-ordin system, so no direct relation ship betwen On ftant Seem orden System end a fourth-oruin systim. Seleek a darigh thal obbiann to satify tht reyutrement and thin examine tne time Yenpense., Therate te auive al tu final clerign -aa Cid umdre 1 Tretadting Trim camdrol [is ee ™ Or eet) ~—— ry 4x os GU) acs) Se Comments: Trim proviclan @ mument thak will eliminate tre chendy. State error Seg, te kat Whe alt hute comntont e te K, 01) ee at K Ky Shewtd be small cminimeat. Tht doll umnpenrater: Me rey Cae Sey 2 KD ShKe ~s So the closed-loop Ce is now: t+ KD StKr G(s) =o he cetected fs Karemains do be sclected is kz So the CWsea iy WE hawt abrenty selected Kk D(E>, What So th ee ict pee 0G + ko KE Gs) - Grkea tie Kom sey y eauaepe) (44 ee06 i Coe K DG wos cue ana order k (S422 Ng (sy Ste Me | s[Csthr tg tk +2] k ot 3+ m aa) eure Clan oraar wen Sen = oes obit, @2 K.0G(? 6 atk 26 Ky Node that when eee ee s[ (Sth) dg + (st zamg] + Ky K C8#2ING t4k (9 Ss with p50 oo the em chen. pulyS.6 Extenrion ef tre Root - Lous mee thod $16.1, Ruben for Clothing a Negahve (07) Root lou wi Bh zane Tram fer fancies in te Honminimomn phere Vight- half-plane Cane) — Loman «Gd the form a+ ACE - 5) @ Cs) 1-ACs-2,) Wes) ae (s- 2) @ Cs) “ oa joer ? So whet ane the ruler of thr nepalve rest towns ae eects cs eo bab nw k Rule 2: The tou if on the vent oxis to tu left 4 veal poley plus sens, [The number zane even. J Role Zi The anymptoten one dincnihed by we fhe - 2a] tothe Whant cs) 2 BOD 2 SH bg ST ee the — Shays be On C82 Fam) 2 (5-21) (S- 22) Us= 2 05- Be C5 RD) Tre angle: = Bee C98) | gt 2,Rule 4: Departure angien fram poten 2 Te Zerey amgtntte? Ot onrived angler to zane cae ee ey Lo pole argien i ee eel Le ordin cd the pole or zene, eg Rube 5: Tt lous can nave multiple veots ab peintr on 4th lous, and the bran chan will approach a point of q reste ab angle Seporadict by 180" + au" (4-1) + Ons depart at angles with the some separation Example £.13 Al hada central ef an Airplane — Negative Ruot Lown : Review Example 3.28 Plontt G (sxe = co (sth us + 12) Mo th gatn, then——— tts Te we simply Rave a wmdtvotter wit gen then Ce ig nagahve i ee 1+ K = ee ooo Se = elemder angle “Ee : Yeo Rute ir nee, met, Hee pronches from tht open: looF polen, one ending at the zane, and two enypmp fetes Ree cee Oe Rube 2+ es wee | fs Gata Gy The taporetane angle from wes pole -2453) 0 BET a -[t" past) s eesan (ete op 7 . = 5 Soe by imppecton otoe ee : “ Py dwtant give tne following formula] bas a ab og as as cosy BOD 2 se6 ole "o. (st ueeiay? We este es ets So este ust4ias ae os as ist (s-6) (ast es 443) - (s?-Usttsasd = as? 4 estes 19s? 48s — 78 = s* -4s™ -125 Se oe hl oe See the rest lous in 6g. 5.43Section, 5.6.3 Time Delay may Delo be camred by the processing od tre semved Honabn- Foced plane of a missile may take 25-400 ms certrotd of the image odo tonget to deforming tre = claley ( seevncln) $C Ty) + a fimehon seleyes by Ty 2° es Cite eT re £2),| with £62 £LE Co) is net o pelyremiat, so how to inetude it in the rest louun diogram 7 Padé appreximahion : ( Fivet-ordtan log) (5:44) n Ty s/e [ (1:4) abbroxime tron] 14% 5/2 x (e927 Ty sla +(T 8) /42 The Hine (s-93) 3+ Tys/a + (es) /2 cote always rectucer Ha Stability of a system So Hebitity Should have sufficrent margin te accommodale jn clatayy or it Shoals be Lompenrated for by othr mtanr ( forward propagation).