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CS Notes Apr 19, 2021 1.29 PM PDF
CS Notes Apr 19, 2021 1.29 PM PDF
CS Notes Apr 19, 2021 1.29 PM PDF
. Lnea me
nvoriant
parameterc dont
Disire re
signal Systems 7.Static
syStemc CLTI/ Non-LTI *
Oynamic
the Outpu'
mulivariable covntol syskemS inpnt
ar
-
olepend ent on
parameteve
each other
md epend e nt
control system- nput parometers are
hot depe ndent
sen auo pee
. nat is a systemL
acc
Pedo mobile
déceetion
ccntrolle cnrollee
actna+ina ystem P >variable
Signa
> pen loop conrol sy Skem
npuet is given to a sysew anmalhe olp is
osewed Ohhout
ay fosdback
Pdal_roller Splant
olP
Speedom eiêr
fcedback
Peloop
Jesired deinred
Open lo op cloceoop
o fe edback has feodbaek
m Ore nOISe lese noise
syste
>JE-
sysem
Pace-
t t) =
4.lE) +4¢E), Law af additiv ity is
saksfe
Law of homoaenty
LE stem
Oyct) = a + zct
KCt+act) = {'CE)
HCE= 2+ ziCE)
+Ie) + Z2ct *y)
E=2 + 2t)
o+ Cnear
ce = *ct)
Srtt = TV
t a t
+ zaE) JCE)
attz/cE) t +*ce)
E + z2cE
+*aCE
cE+y'CE
8CE) 4t+ *Ct Ao-Unear
Kzcsint) =
kqtE
kxtsint) = CES
'CES= Kytt) LoH veri fied
'
The sy Stenn is Imear
E) tt)
lE-p) co-(E-t)
place t,
LineNY n me wariaLe
em delay t-)
lay C system
E
i t) 9cE- ED, system is unear time unvariant
O zct)=2t
2-to)-yeto> TV
ce+yce- to)
ime
vaTiant
cE = 2+ x tt
a+ lt-to) 4E)= y t-to) 11V
E-to =
1V
Sialt5 Cot 2U
=Cot
Cont lo-t)
reference lp comiol
CCt Cconrolled ofp>
RCE
laplace
Iransfor
Transfer-funcHion P cct CC2
RCE RSS
H() Manpualid
feedloact Cmhsell
elemeF
AS
A
PlatF
DISbaste.
Cet2
RLt)
Cct) = ARcE)
3ain P
we get
CCC) =
(RCS)- HCS). CCs). Gcc)
CCS RCS). GCs) -
HCS). cC). GCs)
CC + 4Cs).G(s)= s. RLSSS
cCS
RCS +GH
+ s). HCs)
Tf feedback is Ve
Cs
RS) I-GH
-GCS) HCS)
eralized transfer funeion of a cloted coP
*3CS)
X2Cs)= X1 Cs). 41 -0
tn
X3 Cs ) = XI CS). 41: G
X3C62 G1.
X3CS)
XICC)
xX
41 4
by retaining the
3 movina Sumnmina point behind
9
cuathan be hind
front
X3 Xi G + Xa4
Xp= X1 G + X2G
X2
=
X3 X1G + X2
x
X3 Xi +**
X3 X
G+XX2
S
Movin tate eff point benind the block, mulHply
by it
Pointfron
oPP
dhere the olp is takenin the
direchoa
6 oving take off peint ahead +he block, mnltiply
by i
RLC
TPLiA
sP TP SPa
P
Ha
S
tep 1 move TPi akead ofG| multiply by
RG)
RCS)
Ris)
TP P ccs)
RiS TP
ster 4 move TPi behine G+ 43
RCS) TPa
T CCs )
G+6)F
Ha
SIt42)
H
Btep TP2 TP2 are in parallel, H _gHL are ad ded
RCS)
>ccs)D
1Gi+S2)i
+4)93
Step: H cn seies o it uock
RCS)
T7a
HGHL
H-G1+94a
(S+42)á G+) G3
L
SaCG4+G1)
(1+2-) G2
Shep T eliminating feedback
CCS)
2CS)
ItGH
CCs
RCS)
G+G) Ga
G HaHG- Ho H Ga HaHs4a
)3
RCS)
+HH, G- H3t4 G2-HHa4G3
For the given RC
netoork draw 4he block diagramn
obtain he roans fer funci on
Vo using blokdiaara
Tednction techuique
V
For BLL
T CI
2 VoCt
I RI Vict)-VCt)
4Cs VeCs -Vi CS) Vi-V1
RI
or CJ
V
de
V cs)
CS
VI- V V CD
TLs) Is)
VCS)-Vo(s)
R Vos)
Vo
-dt
VaCs
-(I2)
C2S
TVos)
vusy Voc
LYs)
Vwisygaia
2
v
H 1
Ras_
Sep 4+: Cascaded
cs(l+ RaCs)
8tep CIsCI+RaC2)
CEC+RaC)
CS R )
CSCIRCa) * Gs
CIs
C+RICs
Cs CI+ Ras)
Cas
C sCI+RG)tos Vo
caseade
R C SC+2 )tRiCG Vo
1+RCaS-
T+RaCas
+GH + + Gs
RCsC 1+RaCas) +Rs
RaCS
Ki Ci S+Ri C S*R2C2 +Ri Cas + Ri CS
RsCI+RaC2) +R S
Ri CIS C4 Rac) + R, C
Awfcs(Pacs u) Cs
+RaCSH
RCas
Re S1 +Rc25) + R, C2 S
LHa
-cls)
LHa
T
Overa ll +ransfer funnchonis
Oto find R
H-
e asLad ina 431+Gat eliminaina he
feedback. loop wit Ha/g
Ga41+GsH2
2G31+A2Ha
u42Y #2
e Ga is easeaded k H
fecaeaak. Loop C
etininate d
R5) CICS
+ G2424L
9
IGe+ Gt G2GaH1
H3+
G» GCS)
I+ G3Hat HaGt Gi 6243H
find
Let R- o
*pl
TP
A
p. G1 & q2
are caseaded + G4
tepq Eimina te Sa
,
shep
Etiminating fe edback
L
+GaH
ke: -G92H1 * a are a parallel & remove sunmnming poin
R
1 Ha-
19a- 4
Skpt: easeade
Ra
-HA G
-Ha
Se 8: remove fcedbackL
93C+4aHs)
+at G3Ha
G
+ HGS+ eHt
+ H
(Tor
Tor +he
the iven oliagra m draw
he loce iaqram &
R V-Vi
Cs)vo cs)- vics))
R
S)
Vi
VsCs)
VCs
Tntoria
potain the
tansfer+undion cC using blockolaATam
RCS)
redneion technique
RCSD
GIC
eCS
ep remove feedback
92
ccS)
S tH
Hk-
Srep 2: move Snmmina poit lbenined Gi
RS
S1
CCS)
T ccs
S
+gaH
+tatIG,|
RCS)
1+ t 5144|
SlepG 1+41 &
are cascaded
+GaH+ G1GH
ces)
RCs)
+Ha+GG2H
C =
+41) C
+G42+G1s2H
T44F
Cs)
move TP ahead ef G
RLS
LG4
CLs)
Ap cascade qa G3 combin e G4
PCS Ss
4942+44 s)
aH
Step move 3 anead of e
RLs
EH
LsH
Ris)
Cs)
Cis
3+64
ep6 cascade
S Ccs)
GCGaGa + G4 2
I+GIH2
+IH2
CG4 +4)R2
C4qg +44
1+GH+GICG244 +4H2
CCs
CG2G +44D
RS)
LHa_k
L
1+9H
/2
werre e linninating loopT Lnt loop a
1+GaHI
8tep
1+4H + i29312
T+G4,-S24sH
+GH G263z
CpS G S2 á3 + 44
1+5a+ G293H-4192H
4.LoooP
-H
Exanmple:
ccsy
eCs
(r)
RLS pccs
T.F
=F
P Masons
A-
Foruord
PArnS
Steps t befollased
Find +he no. of foaTd pats and find tne
ains of +heforuDard poths
Cpathfron ip to olP)
aain G19243 44 HI
H L =
foruanTd\/
Pat fe edbac
Pat
1 ind the no ef non-touchina
in
looPs
no Com mon node
2
-
L H
La LI-tonchina
LaL touchina
Li La non- touchia
L La3 tonchina
Caainproduet)
Hind the no. of non
their
-touchina loeps and ind
gain prodnct
in fhe
ive caie here is no comblnation
F tre e nOn- oucning leops
Aain product =
4L-3
. Flnd the ddeteyminant a
A= l- £(individnal loopaain&) +ECoop aai
Productsof
N TL
A=
I-CLit La + L)+ (4La) - O
Bxampel
Pi-
LI - GH
+GH
T.F A
PI
I+GH
2 6 3
4 G5
Ks)
6
Gjain Of path 2= 6 14 G5
L
L L2 AstsP)
La =-
GaGt2 Ha
3. Hnd a nontouhi ing loops
INTL ,LI& L2 A2HGs Hs
Path I
-
nas non-touching looP to the
Aa=1-42D
+GHi
7,
T.F £ D P
aC+(+a2)Pa
A
GIG2Ga G4
as+CI+GH) S4s G6
A
G2 G 44 as ++GaH)
+( + 4sHs *
S4s6
Saa42) +C2 H4s
Ht*
CcS
Ge q6
H
patns =|
&epl: noof forward
Loor aoin=
wo. af individual loops
f ndividnoal loopss
I. LI
28
G4
L4 213 A4 s G6-HaG8
LL2 +42H1 G4 H2
t o vnon tDuaniAlbopS
G4 Ha
tGH
6. l- o
1. CLS2 Gi G2Ga G4 5 6
RL
- HA
Pa
no of individnal oops
-GaH
-H H2
-6 H
La G11
Ll Gai6 H Ha
La = GG7 H H4
o 2 non
-touchi na loop
A= I-£Cindividual
Loops +£(aNTL)
+4246HH t G247tH4
AA t-2
- C-G6H-G4 onsidering
+Gs H + G7H4
considevina P
A= *G2H+G3H2
ccs2 RCS
H
G
A
-R -H4
No-ffovaard patns
0P Loops heed on
GG22 G4 Gss
Pa G5 G6 start R- end
attne sanme
Po int
)no.f individual loops
4
-GIH
H
Ga
L
1H
- GaaB
L
-H
L
L -
G496H4
Ha
Hs
-H
G
2 = + G2G 495 He Hs
4s
L
-R
-Hs
Le
H -H
(2) noof 2 non- toueing loopS
LLe GH G2G3G4 Gs H6 Hs
L Le
GHG
LaLe = GaR H
GHGa Ha
Lz L4
G24C H4
L3 L7
no 3 of non
tduuchina loops
= -
GI Hi Ga H H
equaho for te
Write the
mecnanical netuooTk
rep : outdiffeventnodess
xl
at node + E + Bida +
F Mid L
Lx1-Ra)
E
idE
Fe K +
+Mdaz
dE2 fconnecked inl
Series
vV Lda + Pda, +F
de if seriec>
Paraltel
Sep4: torce- voltage anal4
F-V
M LCindnctor coil
B R Cresisto)
EzCeapacitance)
RI
V F
M.
La L M
C
R B
tSvde
+ da¢ +
F
M Bi\e with C
RiL &PE£
M=C
V2
B replace *| uoith Vi> *uit
VI H Vz
Procedure far Converti D to
RC 2
44
7 e3P
Ca2
odelling of he physical syskms
F=mo aceelerahoun
)
M P ( Cdz
lislacenm ent
Fe veloihy
F Fk
ap mecnanical equivalentkt
Lo. of
nodes no.o
T
displaeement
MI
m
Ma
Or he given ec hanical
ySeu draud:
the equivalennt
B wmechanical
m writh the dAifferenhial eqs
ortne N/wE or syste
Draud F-V anal oqpns ckt*
B orite +he equations
rauw he F:£ analogous CEE
B
Ba
M- 3 CinerhHa) Te Bcd
a+ node
T Jida1+ k1 Ce1-@)
For the system
.Drau he m echanical eonahon natu0rK
Ma
dt node <1
Bidai
dE
+ kiz + MidzL + kac1-)
at node a
O
KCz-2)
. R
n- mL
Ti 2
KC
Mc
BR
V,
.rau the echanical
m3 Aetwork and uOnte
Ba equahons
B 2. Drau F-vanalogon
H RE 3.
3ous ckt
Drauw
F- T analogo
sous ckE
.
B
at nede
midx
dt
+
kz +
BeCx- +
de kCz -2a)
at nade z P -za>
F Mdia + Ba d ce --) + kaC2-,
dE +Bid -a)
dE
dt node Xa
dta de
. m
L
Ra
La L3
C 3Ls
a mechanica sy sFen
yansfer func tion of
TF
FlsS
T.F X2Ce2
FCS
m
T
ma
uode2
O Maola
de
3taking laplace. voansforw
FesS =
MS+ B,S Xi CS) +
KixICs) +Ez Xics) EX2(S -
ExcsS
+he e by rearranAna botn ea he
represenhng
X
. CFCe
5 Fo XCc
hnain tin the iret colum as it is
0-(-k F
M Bs +k +Ea FCC
O FLe
A
X2CS
A FLS
A
For X C
A (Ms2+B1S+Et ka)
FCS) CMS2+E2)
M +
2
A
X CS)
FCSS
= ma A
tk2
K
m HH m
o Drauo the mecha u ical ne tuworK
nd +he T.F
0 FLs =
k1*i+ Bidz +M da2
+ B d Cz -,)
Mdlt +kaa+ Badaa t Bs d(a-)
de de
BS X1Cs)
X XsS M
t
B3+Bs -
B,s KCS
B3S XIC
k+ BS +Ms+ BaS
Bas
BaS M F
+E+ Bs + BaS
For Y2
+ MS+ Bg cs
[K + Bs F(e
BsS
(kI tBs+ Ms2t
Bas).m +kt
Bs+Bs)
X2Ls)= BsFCs) -(s=)
B
FLSO
For X1 CS)
B3S
3 d201 + ki CO-o2)
OaC
Js +K + Kio,ce) - k, o,cs) -0
TCc)
-o 3,s++ O
TC -O
J2s++k2
() Draw mechanical
e
wie diffeven tial e
8Detrmine X1C
FCC
B
ODrau mechauical e4
I F-Vanalogous
dekrmi ne X1CS>
FLS)
Elecomechonical Systtm
R L
CE)
F ile>
APplytng LT
= + Ls ICS) + KbSXCS)
ECS TCSJ.R
I) CLs + R)
EiCs KSXCs)=
ICS
R+LS
Cousidey mechauical eystem
F Mi Ka+Bdz
dt
F oXiC
F ke ilt
keilt Midz+ Kiz + Bar
dt
applyina L-T
Ei Cc)
c +CR+Ls) m2+BS + kD
MM. m
Vo
T.F-*CS2
V- i + 2d +JclE
dt
Vcs)= ICS) + 2s Ces +CC
VS= rs) ( +2s + 5
ICs)= VCS
CsS= Ics)CI +2s +
+2 *
Mechanicalsyslem
2 d 10
de
dvo
2daz
SKCS) = 2 xcsS + tO xCS)
XC) ( 2s 2 +
-
1o
XCs =
S.vs
2s2+l0
Vs Vo ltage across IFC
Vo Sidt
VoCs= Ics)|
S
Substitte O in
VCs =
VCS VCS Vocs) 0
sCI+2s + S+2s 2-+|
ube ihu e O in
XCS)
2s2+10
VCS
X(S) S.
(2410)(s+2+1
Xc
VCs
2s+1o)(S+2s241)
a ebbd
F
TF XCE
ECS
Loiz +fci2-u).dt
ECS Ts)R + (Cs) - Ia(sD
cS
KsKCS)=
t (Ls *
) is)
-
kbs xS)
CS
-R+S
Ls
S
ECS
-SXCss
S =
-Kbs.R X(S) kbx(sO+
-
ECS
CcS)
OBtain 4he troansfer funchon
EaCs
Voo de
Constant
ield
shaft
EA V
la
teto
N
N Y
M
ea
Cteady sate erro
eces
Es=E
Hheovem
ramsfonn
Rnal value of Laplace
= lE ECS
ess LE ectD
Rs E
CCCS
esDRCS
HS
ECS)R(S)
+Gcs)HCS)
ess = RGCS
s.E
HCS)
ess
I+qCs)HCS
ess Lt
I+GesHCS)
e
S30
ess
SO
PosiHonal
ess ns ant
+Ep Co
Kp Lt Gs). H (S
S0
ess LE
S-20
ess L
S90 Gcs). H CSDD
SC1+G
Css=
forranp qs).HCSD. s
P
Ky L S. qs.HCsS
es> HCSD
Css
s +q
Cs so 4 c2qcs). HCS )
Css
acceteraion conctan
Ka= S2.4sDHCS>|
S%
poles
CS+PO CStPa).--s+PR)s
YeCND
for unt+ etep
ess
I+Ep
p GCs).HCs)
30
Kp Ris2,) CS*22) -.
--.S +Zn>
390
(S + Pr)
sN CS+PiOCS +Pa)
.
. .. (ot2r
0'CotPOCO+B --.(o+R
ess =
I Do
N- ype o 3+ype number oDF Pole at he ongin f
GCcHCs) = kCSt21) Cs+ 2a) -. .
. cSten)
C+P1DCS+P2> . . .(st Pr
kp- o KCz1)Cz,. n)
Pi CPa - (Pan
Kp cOnstanb
Ess =
+kp Cconshant
Egs =
Flnite valne
Type
p
Ess = 0
Unit ramptype
ess
Kv
Ku S.qS> HCS
So
Kv S. K C0+212Co+2) - - -
.CotZn)
S20
SCo+PDco+P2) .--. (o+2n)
Kv 0
ess
ess= t
N
ot Pi 2Cot+Pa) Co+ Pa
Ky finike
cs
N
SKO+z12 Co +22) .. - . --
(o+7n
Co+P1 Co+ P) . 0 +Pa)
Kv=
Parabolic type
a l
S0
OtRSCo+ Pz) - -.
(O+Pn )
kaO
ess
N L
Ka= LE
S0
Lo+P CO+ Pa) CO+Pn)
N-2
Sas L 2. E(o+zicO+Z»2 -. - . .. C0+Zn)
co +P12C0 +P>2.
S --. Co+Pr)
a= eOnstant
ess
K
Kefer to the unity feedback conbol system. ind th e
Sttady state eYror for an input elefined by a Polynonwa
pA=4+ PPArakoie
CE a +4t+ 6t E70 A Magnitmde
sep witm A=z
s-50 cLs)
StSt5
Ess = Lt sCRCCD
I+GCsDHCSS
RIS
+4
Rls
Hcs-1
GSS. HCsS =_ S0
S0 sCS+S S
sCsts)
ess LE +
(st5)
ess 1+kp
Orce= RCSS
=
rCE) St
H
7CtS =
10 t 5t +6e2
0
+4CS+1o)
RS
25 -
ces
5 x _G -*
ess =
s2+214S +q D
ess 10
t25P_ 7.25
a= E 256
S4D
$2+24s t4d
ess =
1+6 25 1.2s
Type 0 systcm
ess ID
+ep Ka
p = E q). HS
Ka
+
ess + K/6
ess lb = 240
k= d4
GLS).HCS) 24
s2(s+2)Cs+4
7CE)= 6&
ess
Css
Kv
ess = O
ess = LE
+ 24
s2S+2) Ce+4
6s
s2cs+20s +4)+24
S2CS+2 CS +4)
6-Cs+2) CSt42
s>s+2)CStu +24S
ess On
ulrum
mJT
L
.
transmitted fore by fiCED
LettE) be the
Mechoanical eqnivalent
3
B
F-v Analogy
LI
M
Mathods to investigare
8tabiiy
.Algebraic methdd Routh Hurwit memod
. Semigraphical methoo
os from
6 E
o O rows to be
6 calcalated
the frst column has thhe sanme sign, then the system
CCstablle
Potes are on 4he LHs of the s plane C3 pelesS
-
LHS RHS
C+O-O e-
3+1
Ontu e LHS
APLANE.
s -
For a c.G gven as 4s +s + 6 -0. veshiga te
e
using aRH eri tería and
tabiuy systen ol emine
of the
S3
s2
X O
S
4-6 25 O
S3
6
ince 4n ere is oachange
insiqn of colum
S
2.5 0
astan changeD
O
6
2. o +
- 'Asian Onstable
changes, terefore
poles are on the RHS
=
(3) Fs) 3s4 + 4s +3s +5 +s
Find tne location of tne number of poles yina on ne RHS
LHS
. Lont Array:
neqaHve siqn ia firs Colum
uutale
3
4 Poles
S2 5
dou RHS, & ovn LHS
s
5
case 0ue °t tae elements
ents iu
in the frst column becowes o
becownes O allhe
Oe
Case elenmens of the rad
beconmes
CAse
nv estgate the stabiuly ef ss 5 +s1
+ 2ee + 2 + 9s ts
c-E ItGCs2.HCS
2
2 0 epAy O withe
s CeD -
2
-C5E+ 48t4 2e +2
0
-*e
so
484-sE
SS
Sf 2 5 O
s3 S peless
-
2
2poles on eH S
S on RHS
tm is unsab
5
LH
RHS
-
s6 +2s5 * ** +S+S + 2s + 1
FCs> =
2 2
oCE)
S3
S
-EC28-22
e 28-E
S0 2e-4et 2g-2Et2 -E C2
ECE-IDX E CED
S6
SS 2
28 - 2- 26 t28
-E
-
2e+46-
eu-E
change in stqn hence all pole
Ao
2E-4E t2
lie ov he LHS
Ece-D
-EC )-
(1-E)
-EC2E-2 2e
E1-E
-228+ 2e 2E -
26+ 28-2E
El1-E)
2e22Et 2
Fs s + 4S4 +8s 8
S5
-
case
S
S
A
Since an elemrntt of
4e row is o
a lHeastt one nonzew
element mushe
in he ao
s2+1
= 0
8s+O s j
S5 8
SS
Aarginaly 8talle
S O
ytem
So
0 s ( + 2s + g +22
Ss + 15s + (l0 +K)
S2 10+k
S S
10+K
10 +K 70 for stability
0 not pociible Cas itnas to be tve)
-. KzO
20 6
SS 2 6 O
S4
2 12 16
S
S
S
2s4 + 12s + 16
2a + 12 + 16= O R-f, -
&s t >6s* + 32s SA= +-2
taj
494
naly
8table
S
frqucntt
Cannot negahvve
be
fore it is 2 and
w
-st s +
8s+ 8s* + 7s +
sS
8
6 6
S 4
s O
Inarai nally
Stable
0 FCs =
SS+2s t + 2 +ts + g t2-o
inveshgate the stabiliy. ind
2
+
2t+ 4s5 2s2O
2 34+ 2sa+ sa-o
S3 0 0
S2
r+12+1(2tiD=o
sI
rpeihve rvo
deno he anstable
Syst
fare found onhe .
the nariu no siqr changae
e re
Yemaiujna! is on LHSas th ig
1eno sian Chana
The open loop transfev fancho of a syakem is a
b kCS+ Dekrmine K, a so hHhat
s 3+a+2s*|
Ae systenn oseila tes at a freaue ncy of 2rads
S-
. e, HCS1
+qCSS- H ls)
0 + Kte+1
S+as t 2s +I
O
S t as 2+ 2s t + KCs +ID
s + ae +2tk): + k*
2+k
K+I
atka - k -|
AED
alatk-(K+12 o
a tk) = k4+|
S-+jC+E
a-a4
4a +k
K = 4a -1
ta -
a+a I
4a+
4 2t
4 2+K a
ke-s
a A unit feed
pnlo
back syetm
op)
has q(s=
sCe2 +ss +9)
determ ine K f the abilihy ef the sycem
Ls+ ss+ a)
Cs2+Ss+a) +ECl-s)
-
+5s2 + qs +k Ls = 0
45 Sk -k
K
15-6k
So
-
Tr a 3table syetcm all elem en K must be
rve
af +ne irt columuw
K 70 -6k 20
70
may 45
6K 45
oen 6k = 4s
elements of the vo are O, ther efore cE is
arnally sable
Time domain speeification of a dystem
+ a2
andsysorder
ten
2wus
oitn unit step ip
= natura I
freqnency of dampin a
damping raio
no+ poesible)
undanm ped system Cpracheoally
und erdamped syetern
CriHcally danmped
over damped
C
RCS
2+tn
R
sa+2fns t wn
9 ader damped syetem
f
final value
AAS u+it
ug+ be l
migt be. areoter
O lesser
Mppeak oveshoo+
o ise ianes tme aken for ttae olp to reach from l07 tod
CCS
CS
GCs SCS+2D
ItGCSDHC
sis+2)
CCC
Ris S2+2+1o
-lo
st2s +{b 3+2 wns + wn
wn= 1d
w D = 3.67ad|s
Gwa = a
D.316
-1-244 rad
uwd=wnvi -
g
od Brad|s
T-1244
wd 3
tr= 0.63s
tp
p 0 17s
guwn
D.316x3 16
X
12 e -4
oMP= TT 0-316
V-316)2
12-e
0-7s
wn= l2 rad|s
ilP
Deternnine olo mp tr tp ts (2/-2S7) fora unit Step
closed loop trancfer funchon of
tne sysem, debemine
Fora ive n the values
for he unit step ilp. Atso esimate
theofp 7esponce raio
requeni es of dlamping * he damping
f naharal
vct)=|
n-? -?
CCE 12
RLS) S2+ 7S +12
wn - i2 radjs
2 wn 7
=I.0I
2 12
RCS 12
S2+1s+12
SCS2+ 7sti2
12
cCE L" SCe + ts +12
(2-
SCS+4CS +8)
12
SCS+4)CSH)
S S+3
2- ACS+4DCSta)+BstS+4) +e(st3)s
A=I 8 4 C 3
L S+3
4
4et+3Be
Relaive stabiliy
z + s-1
replace 8 by z- 3-
Jpterwnine *he
tauge of k Such that FCSD= 3+ 104 21s +Re
k 0 Sch Hnat t has roots more -ve tau s= -l foy tne
rareun to loe stalble
21+K
able
SD
2 3+
S= z-I
t oroler
Sye-em
CCs2 I+ST
me comstant=
nse ine 22
ts settng tnmef
ccsD=4. Res
S+4
ccs t
CC-= d-Cccs3
cCe
St4
cceD I
e nent-
s - Js I-e 631.
T 0.2SS
ty
Bi
B
T7xf
Te o +B1o t fu
feedback $yskn has an pen loop T.F Gs) =
/b
Auniy sist2)
find
rise Hme
pest bme
1. ovesthco
scbtia tme
or a step lnput 4 8units
CLS)= SCS+2)
RCS s+26+10
T+1O-
scSt2)
n = lo
n-io 3.16
Euon
O = tan-i(V1-2
tp
mP
w
e
- x00
12
u s1
T
Stability analysis
. Roo+ locus
Stable systcm
. 14cs). Hee)l= |
2.
6- 3-
(02
0
deterMine e angles of thne Ymptotke
linee draun at an angle
to he plane2
f osywptoes = P-z= 3-0 =Ea
C2t) 18D
0l2
P-
Pa, = 60 hD fanalec =
no-of aEymphote
PA2
x5= 300
PT
deteY mine e breakausay point ** -
oreak in poin+
8 O
3s24 2s+
4315
S= -3:15, -0-84,
K-C sa + 6e2-+8)
-(E3 15)+ 6 C3 is)+e) - +82.14
X
R- -3-I1
A&nce o.84
0-84 is on
is on te
he R.Lsea ment it is avald breat qaay
Point
if R-L intereects imaginarY Axis auol whe re
Check
jo n l+qls). HCSS
SCS+2SCS+4)
0
JwCjt2Cju+4)
juCjut2Cjw +4 + O
+6s2+ 8s + k-o
jaD +Cjo)z + sCjs +k=o
-j 6w +8juo + k=0 + oj
K=6x8 =
48
KC48 &tablesyctem
K48
brea
marinaly stable follou
point asphotc
A4 >unstade aystcm
-0.5
-0
asYwnp btea
ckrine
P-2
90
AOAy Point
reak
I+q8) H(S) =o KO
sC+ID
-
-2
maginary AXIS
6 ntersec Honof RiLon i
1+QS) HCS) =O
JCjw+1D
jul juo+)+ =O
j+jo + k=o
w+ ju tk=o =o +0j
-w
wa-K
Mot the root+ Locuebr an open loop TF=CS*2)
SCS+
and inv estigate sys+em
tne stabiliy of tae
zeyspoles
Oz
P
P-o P -i
-2
K=co Ko
R-L seqme
-
0to -
P-2
dettmine the -6
1+GC HCS) = 0
sCs+DS
SCs+1 + kc +2) = O
(st2)= sts+1)
Slet1)
St2
(S+C2S +1) -
s2+s
(S+2)2
2+4S +2 O
.58, S= -3.41
at K= - 0.583
O 64 tve eherefore it is valid
atk 3 41
ve, thevefore itis valid
k
break n poin
inco ddeparture ic
Ato tne real
2 0
break reak ay
a point point
n the depowtu re is away
rom the veal axis
R,L Sement
1 3 R. L
0 to
etevnive me centroid
(- 0 - 0:33
ASa
300°
8D
AS
C de ternaiune the break aua y
PoinF
+GCS). HS=0
SO,
S2(s+2
s)+L=o
S2Cs + D= -k
-(s3+ S2)
k-Cs *cs+1>
-3s2+2s)
-( 6s +2-) O -
6s 2
-o33
s+2o
2g= Bs2
Ces on the L
hence itis
valid
6) breaL auway poiat
S2Cs+D
qCs)HCs = K
s ss3+ 8s2+ 6s
( q).HCS)=
Sts +4CS2+ 4s+20)
epl: 2 0
. R.L = -2 bo 0
4 to-2 X
3 qa= 45
2
A2 135
PA 225
A4 315
5
Centoi
A 2**2--4 -1
4
1
As
s-2 -2 +2.45
Sa-2-i24s
- -tve
ks real
100
e-2+j2.45
ks -2-j2.45- oo
- zeros - £¢ poles)
A 1o (9
eosof *tne 2
system iven & join al
Art al Hhe poles a nd nee ds
pole ohose angle of depature
complex
of thenm to the
to be calaulatcd
-2+4i
8o-tan
D-0
SPO
tan2
4Pa
-
Pa
-3-4j
So
tan-l
- ban-4 -lgo tan-'22
1-
-
Gsy HG)=_
s4+Ss3+8s2+ 6S
SO S--3,s= - 1+j/ S -I-J
25
5 A- 225
A2 135
A4 31s
4 +1ss2 +16s +6 0b
SI 23
S, S2 -0:7 t 0 34j
0d-71
8 qs) HCSD
kS +6
SLC+1Cs+22
S-6
P= 3
SO S- -ly S=-2 3-c6) =
1s
o of A-2
+K Cs +6)
SCS+12CS +2
L -
+ 2s +2+2s)
S+6
( s+ 3s 2 +2s)
S+6
-o
S1= 8 45 Sa=-1.66 ,sa 44
-45 = -
165 X
-
-I.Co = 0-08 X
Ks-044 = O64 V
kCs3+3s+2s) 0
S+6
-2+2=0
3-a)_
A 1-5
Cos-& make 60° w TE-Ve rea) axis
O
coc-'co s
abcel
plot Aen domain)
.1a4
ol
stabil
raphica tools for
polar plot Pol ar
Nyquist plot
Bode Plot
HCs) = Polar plot ?
4s)
jw + |
tan- CoS
tan-'Cw)
Ean-ICwS
tan-l
at w=O
|4H Cj»2 l=
GHLjw) = - tan-(o) =0
at w=0, M LO= Io
at w-
GHCjwD= - tan-(0
he plot
nd more cucL poinkfor
2t0
-90°
Gs). HCe)-
(S+1 (s
Vw 1
+2
R)+DC Jw +2)
4H cjo
Vwa+ wa+q4
Ljt. Ljuti
tan'(o)
tanC)+ tan-(i)
tan-) -
tan"()
atw=o
1270
GHCJud-
at w- 0
0
10
cHCj) -q0°-p-8D
-2t0
-40°
Gs)-HCS)
=
(St1CS +2)
-2o
GCc)-HCS ) =
CS+1DCs+23 CC+a)
180
-q0°
sCs+1)
Sj I-10
k
ju C ja +1)
IGCj)HCjo)| =
Vgio vjw)*+1>
GRLL= Lo
tan-() + tan'co
- 4o- tan-IO
w0 ML= o 0
-20
M 1GH Cjs)l =
GHCi)L
tan-lCo)t tan-1(w)
t ban-\(2w)
-a0 ban-lo-Ean-2w
w bo M GL O
-20
210
-\80° 00
wO -q0°
pe
-1s0 -10- tan-l a tan 2t0pe
40 tan-wpe + tan- 2w
A0= -
tan- Wpe +20 pe ) fomaula
-240pe
tan(ao )= 3pe
-Ruape
upe
-wpe O
wpe
Ope radian
gc ic Crequency at wnich |GHCjus) |=I
GHCj
ae 0.81 radsec
pe vwet Juop
P
GHCjw
lo-ope
CM 0 loq a = -2.5dB
ain margi n or phase margin is
negaive, the syekewm is
usable
GHCLw
0- tan- wa tani 2wg
10-tan-1 Co.e1 -
ban-i( 2x0s
phase wmarttn
13
Systew is
unetable
for a
Peedfeed back <yetem Gee):HLS=_
S(S+1Dls + 4)
obta
ain upe wjc 1 Pace marqin an
ConAnnent of the skabiliy of the syskm
M GHljwd|
wwa+I w+4
Cjus)
-H
tan-c )+ tan-l us) t tan-
-a0 tan() -
tau-l
w 0 M 4 6 a0
w0, ML
4 a0 ban-lao- ta-'
En -I w -
ta
tan- w + Ean-'u
tan - wpe+
pe
Wpe + p
-Lp
wpe2
GHCjw
w Vw2+1 vw2+42
za+1Ca+4)
ai margin =6-0
6
(S+1+1j)CS+I-Ij) Cs+2)
GHCjw) = 6
M GHCjw)
.
I+ Cw+ID2 I+ Cw-12 t4
GHCjw 6
-tan-1(w+) -
tan-(w-D - ban-(D
M4
w0 H L =F
-2400
upc V6 rads
uWge 25 radjs
4 M= l0 45 B
161
P.M
q.M= 0 Log 3)
=0.45
tan-t Cw +13 -
tan-lw -1)- tan-(A)
P.M
80 - l12 1670
P.m
Gs)HCS SCs+I92
3.613X
jw Cjw +102 12.83
Zeos
N-I antielockusise
N=0,nen it doesnt go around
-1+jd
z- 0 on the RHS
y stable sys+an P=-N S= t Ra
SectonC RA0O
poles
Stas+ y Simple Secko
Secion
S--j
raw a Nyquist
open
Ploot for an loop TF ne re
qls) Hs): K
S+1 Ls+ 2
2.
find the no of poles present on -6
Gw+DLjw +23
w+ w+4
Latlli - tanw) -
Ean-1 (
ML4 = 05k LO
w90
ccion fnd
Section
S lt RedJo
for bed '9'is mov ing
from+90 to-90
(ReP+WRe i6+2
+qo-20 -A0°
as magn ituole
M-0 is0
SechonT S-jo
e2
Cs20+Cna
Z P+N
2 0+0
he systew is gtable
S j
GHCj)= Cju +2
Cj +12 (jw-1)
GH Cjw
w2+4
wa+ Cjw-1) 18 -a
0 M = 218D
M L o a0
Nyquis+ conto
for T.F having pole ot s=o
S-juo
Re
re
q00
P-0
forw the image
Section
S=J
GHCjw
Ju Cjw + D
M= GHCiwD| =-S3
wwa+
5 - tau| - Ean-'o
o M4 = 40°
w o M O8
Sechion L
S=R-00Rejo
R00
4HCRejo) S
Rae
Rabo
M- 0 L-9 = b'e'od
Lo= +
40
8D
d '
Section
S=-i
ab& dle are wioY maget
d'e will be the mirov inmage f alb
Sechiou
e Pa
-100 tq0°
O
S= trei¢
a'
GH (rej= 5
o re°i®+ 1)
r2o Tej¢
e
N=0, no endv clounentc
Z= P +N Z=o idicates, HhatHhere ore nd
z -0
Poles f eloced loop syskem
'it is stable ou the RHS
(3) Gs. HC =
SCS+1DSta)
Sae pace Analya
Conditions
non-liaear Systeun
8tate equakions
Stale space modlat P equation
. RLC nehoor
ate space
2. MEB syckem model
ntpnt eqnahon
ofp mariX
ansmitta nce
abix
O Wrilk the state ean for tne ciyauit by EaEing ashe
CuTYet.#Lo write the olp ean for the uTYenE
Vt R + +Vec
VCE) -
tRR -VeE
-Vclt
ee- -*
iCE
+ Ralo)
Pron R C
VCE
wwrite te tae modet for e rehoork. WMtehe b]p
e by ta tng9 2 as op eurent
energy
K koraaa
T elements
tate Variables
Vect=
Ca
=is -2
is CdVe + (2
Ve 2R + 2
dE
= 72R+ Lz2
Tslt)
C
using diferential
equatio
TState space model
.
g3Y) + 6s2ycs) + llsy Cs) + 6 Y<S)= 6UCs)
CS s + 62 +IIS +6 6 uS)
YCS
UCs)
ee+6s 2+lls +6
3 tate varnalbles and the no-of inteqrators
inhe Fg
+
6(s
-inindual
2nontuening
Cnumeratn)S
-Oo pat
3intrator
s
6 3individual
loops
xora- 6
4
SAF
var iableg
La
Zat pont
o-Us +6r3 -llz- 6)
X Ax + BU
Ycs-Xs)6
Y C6 o
sygtem o lp
obtaiu the czke space wmodel for he chose
en +6y + y+lo-l0u
loyts) -10u CS)
s ys+ 6SYCs ssy) +
YCss>t6s2 + ss +1 (bo(s)
YCS
uS s+6s tSS+1o
1oS3
1o/s3
-yes)
x
S-10
Y- C oo
1oCs +4
Rs) SCs+1DE+3)
l0s+40
S(s*+ 45 + 3) s+4+3s
I++
- )
C3)
[
-4
6ls+1
st (S+3)
nie plots )
pka ot
Bale plot Clag
maguihude plet
GH&)- 1GH jw) I-a jd
20log lGnCJw)
Larritmi gin
. constant aain
pesof
2 pelesavOS atoiain TF
S. poles on the r eal axis Cve)
4. Compex poles
Yes
wo+w
Coeffia'ent eP ow -20
a Slope o
Zem at orii
1s= S
Lo=-t80
+T imple pole
+jOT
YCjwD
= -
YCJsl= a0 logCttjoTO|
TCeI 20 Log CD 0dB
YCjo) 0 Ad2adelecae
IYCjuw- soda/decade
I
atw=o 1
phase ploE
-a0- tan-lCos0D- au -1(o osw)
2 -4D
3 arequen
> take
-22 -8. w
in tis case
6.2 ¢z-iED.
WCI
. = j
-20B,
Aoude pole-40-410 -18
CUe loo
-40-20dB = -60ole
3 6o +20 dB= -4-0B
-40 20 6olB
Meckanical &ystems
FC)
M
elemens
M, 2k
Node
FCE= Mid
C + B1 d)
FCeS= M *3 t (x2) t Bi(X -4)
Nde
0
tka )Bd
+2 + o
OAC
M
Traufv funekion
7-F
S+5s2+4S +10
tbs
+5+
- )
10
72
L
od=U[S) +(-57-422-10x i)
5-4 -10
Bode plot
oe
30l
(S+a)Ctb
sta)_
(S+a)LStb)
s-Cs+CS+¢)
Iypa 4:
g2+ 24 n ton) Csta) quadratic zero
adra tc pola2
S2+ 2s + 64
+ST) form at
SLes
I. Check if t Cs in 1+ ST forma &
2. Check for the ype
3. -jw
. GHCjw)|= 20tog ct) ( . - .)
6 tale
8 Phase tale
Pind GM q wp, Pm
ve, wnstale syskem
lo if is
q-HCS) S0
stoSs +1{0°05s+|)
J.S ju
S0 +1)Co OSjw +ID
jwlo sjw
YCjo
= Coa sb) -
3o teala)b
9.20 co lYCjus)| ton0-1) = S4dB
20 log CSD) - A6
2radls
_ 20rao
O'OS
4 Table:
magnitude e
fackors CoY ne7
frequ ency Lope
54 l dB/decadla
50 -20
tu wC
we= arad/s 2 dolB-20dB
2. 05j+1) -40d8/lec
wc2 -2Oradk -40dB-20dB
3(0-05ju+1) 60d Aee
-
oo (0-1jw +1)
jwC jw+2 *(o0j jt1D
a , =
lo radts
= l00 radls
slope k2
4 actor Corner frequency magnitude
. loo 2odeldec
J
= -
20-40
iw+) - - 60dB|dec
= - 60+20
3..1 juw+)
-
40dBd ec
uw3
4. (0.oljo+13 46-20
GOdB/dec
co -40- 3 tanl(») - tan-i(o-ow) + tan-l(ol)
(S ta)
2002+lOs +1oo)
ss
t2)
300 ( jw
GHCj)
j
(jw2+0jw +t00)
40 tH)
juoxloo (J +0Ijo +19
4e(o5jo+1)
loejw(o-o1w2+0.IJjw +1)
C
4) -dotogco-1)= 33dB
a00
3 c L= Zrads
lOrad /S
ca c=
mag stope
fackor wG
20dBldec
Ode felec
.0sjw +l Ce mds
5(0 u+0 j uWC 10rad/s -40 B/ola
*1)
E
ia
m
md + K1 +Eolq + ft)=0
2 + KI B a t ftE) =0
-PLE) BIz
M m
m m JL
GC). HCC) =
s(s++2S)
GH Cja
GH -
10 - ban-(a)
-tan-C2u3)
atwo oo-a0
270
T
-
-q0
IGHCja»|
Jwlua+ Vw24+}
wCw2+1DCw2 *£)= 1
2(7+Cit)=
a +)
- 0-66s
w= va w= O 8t raod|Is
COPC
a0 =
ltan-cw + tan1 (Ao)
°) =
tan t4o
I-e2
rad
31ain mar3in
20 teIGH j)wpe
20 Coq
GHCjoDl
. phase magin
180F
an- (2xo-&1))
8D + -40
-
tan- (o.81-
10 CS+4)
Sts+1)
*
w +1
1. c pC
- - tan-(w)
- 8D =
a0 -
tan()
w 2raolls
w2(w41DCw 2+ l6) |
Cx+1 Ct +|) = |
22+16x +zti6) a= ||
3+192 4l6L -l2o
0. OS?
Nyqai s plot
(s+!-t) (s+1tc).
a'b
Sjc
o.+1-j*J)j» +l+j)
Ye if
S
w I+ (co-)2 I+(+1)
aBja)=F 0- tan-las- -
tan ICo+1
180t
8
.b'a'e
S mR-oo ReJo A0+270°
A(S)=
lim
im Re Re+1-t)CPeJ + I -i)
R
3. efa'
im G(re jt)
Ci reJe(ve)°+ I
-c) (rejt +1 +c)
6 o -20
Z P+N
Z 0+ Nmust be0
-
=-10 tar lw-1) -
tan (a +1)
90 ban-'(_u
1-(-1)
(1-CoI)
-w2 +l D
Ja dads
2 nJGH(jo)|
qHCS)=
qHCS
S+3S+s)b
CS-3C-4)
. P-2
a 'b
k jo +3)Cjw +5)
Cjo-a) Cjo-a
3. b'c'd
im GH (ReJo )= umR
R-00 KRe+(Re i° +s) q0
CReP-2)(Reia-4)
A0 S
20
1 1-
sCs+12 CS t2)
P-O
ab- jo
HCJo) l=
CHjal1 -0- tan-lCeð) - tan-Ct4)
co= 0L-0
3. clo
Cim 4H (Re j®) =_
R- 0o
jox ReJe
Cm
R60
RexRe
FO 20-0- 270
ef ra
tm GH (vejo) =
Y O
es° X1X4 A0 .090
SC-D
PI
qH Ck D|=
2. Cw
+
LGHCia) -0°+ eanCw)
3 b'etd
5
R Li0°+QZ
00 -20°
Cim
RD0
Reio -Re Jo )
AL2 L
R2 [2g10
0 LLD -20
e'fa
T07eJó (I -reJP)
T
L
020-a0
3(S-D
P= 11
2.
ww+
-0 1&0 +tan-I()
b'c'd 2X6
ReJo(le jo 1)
e'f'a
5
re je(reJ® -1) -
16 0 7 q0
oot10-p *10 -18t' -£r
Root locus
q-H)= k
S(s2+ as + 2)
S I+j, -I-j
3
=0Koo
a no-of branches of R.L 3
no Of asymptbtes
P-2
P-2- 3
-
Centroicd 'A
O66
3000
5 br eakausay points
L+ GCs) HCS)
+ K
s(s +2s +2)
K-(s+ 2s+ 2s)
k = 3 244s +2= 0
O- 66 E O. 47140
B =
/S=-o46to-44F complexX
Comptex
no breakway points
2 8b°-4s° = 3S° dd 4s
8p° -22S
=
1 4s
Point of intrsechion af the real axts
+
s(s+2s +2)
S(s2+2s +2) +k= O
S-jw
-j w Sw*+jw
-
+ k=O
s= w3
2 adis
K- x2= 0
- 66
GW=-2
Gs) HS)= -slsa+6s +ID)
, - 8tt, -
3-c.
O 8
=
2n0 f branches a
3 no f asymPtotes - P-Z= 3
5 Pa ati)j8D 60
P-z
PA I80
Pc 3oo
6 breakauoay PoinE
-
I+qCs) HCs) = o
O
sis2t6s + 1o)
-(s>t 6s 2 +10s)
K
3s2 + 12s +10
S= -1.l8,-2.&
k S-0&
Kro
Paint of ntrseckon
S346s A
+10s + k -Ob
I-tan"(3)
-jw >-6a + 0jw + k-o
d-41-S%
K-6) +j (loo -wa) o
w-to radls
k- 6xio = O
Open looop
ISer al
Inpu
acuahna oupu
oupuu toocder
commorden
Com m0rd heer plan
PICec)
e losed loop
ft henhn
Syc te
npue joene
rterer ce Rchuahngplar Outp
commard
e soral
detcr fcedaek
feodioc
Dlement
ralt clo
, arhrpl
datne
eSinca
Jcsed hemelol Carraoe ow
ltmpebu
puex disG
Com
.Smple du1gn exp ensIue
uxPnsie
not ctable
. tablee us)
ralCc
3 m oro acurele
ws aCu
L lp doeme elleet
r Mthue
5 Censiive
6 Carget B c
emau B-
no fecbal &hos feelba
8 noe6 ec a ron-
8. nDn un cartty eau
LInear ycums obeay- louo o odd. bruty
Lauo o hom oeny
Caw 0f addibiuty
lt
't) t) ar ea
Ps bf hom Cgrr
wm ped &DrsAbuhve
umpco- olepndentvorialblis0n Dnd
Compastable
funeim thmo ooL
eo asuallu
doppcnondane o fwnetO
oushaul
PDE)
tiyne and otmur eaualles hot Opoxat
Same as
mechaunueal
m
L
R
ide
m Cd
d
L41de