TS 1G .8.1126% 2006 2 System Modelling ‘Teta of mana! modeling iam mp sp ite say sian sgn of cous! ‘ystems Ins caper, we il velop aerial eee fre manele, ‘ati ad tema sys wich art wat crmmony very fe The mabenu modes of tens ae obs by sping 8 fda yee lave sven he "ae of he components making ese, Fr tage Neo’ I ae ted {ee ming manly Sr. Ko os we me ‘Ouran weamet wl be ted inex in-air ieet ution hove coetiens do charge ne Ine ie any ene ne. ‘uth canbe eae our ein oping rans bout the eee oats Rea tensa sl gute complet sl exa aay eaten gorse Wel mae pyar an redeemed eran se hae Start te rl compat, Inti cpr we sal okonly te pase component, Tee conponens eof > ‘9p the ing cnn (the apace eae ten a he peng ‘herp ete esr inan sense). the dyamiebtaviou ofthe sem Te Lace tsetse to Be mate ‘tl ml an he the mel ovata isc ean, The pope sn bela of the sytem cn en ened 4 Hoek Gram. eth es fe fancion ofeach component esr te lat hewee fn an ute 2.1 MECHANICAL SYSTEMS Mol of mets stems te ior incon ening bce mec ‘al sysem ty tea veil abt am 4 mis ay eer sem hic er [eats a mean compere. Mehul yam can be hide bo two execs ‘rm! tems sd Ya sem: Sime sens ye ey tsi et ‘ibn were ay eye incorpo ana an on2.1.1 ransiationat Mechanical Systems (pez Repsataincl hl omy nl Spenser nd eaten mot shaniaay sans Asshown ia Fgwe 22, sone Ca heer ners es For icy sig heen» apo ppd fre Fad we have her #eknown he er conrane. The sing when sce ste eoey Beeb) This ise whe he sping canes ko iil th, Theme plicaonspigscanein paler iaees Wenn sponses ten ‘heeqchastiins conta de them fal end sag secs be a8 MECHANICAL SYSENS Sima tng inser, hse epi the ele sites cone ew Adaya cloner or of dumping a an be costs abe pected by ain Sige oe pitn,Soing fote moremet fe son The ae whch more oa eo cee ae ap mas, ip ren he fe Fe wi ‘te feng felon te vl teaeo uge fps oe coe Tee eng when ig eit wih eto ie E Aloce wiped oben Dake tatemte nos ee ame ~o--32 ses MooeuNe Sotton {own rg}. moron mae pe et i ees 5 opi anhe aia ppping Newia eon ewe Paty wnt o» ranth ect oty aw bt 210 1 ty no Pans bob aun “Thing he Lape eat f (2.1, es teaser fain fhe yen ab Foy mri restoyaro) mw to Fa) a eaat cs) ‘The nr uncon n 2.12) eres bye ack gra shonin Figs 24, ramp 22 Flew 28h smn en wih no ms og: Die expsion manana model of he sc, Seen Apa Nwor ts mas hin mi-e(B-B) on amB ay dtr temas, 1 onon-noae(2-82) om ae wenemamud aioe mitch =ch 4d thin hon as mh ten onthin na aw ee 24 Bleck dayne ne mecha sem MECHANICAL SYSTEMS Sue aS “PSIG ELE eI) « pure 26siowsa mechanic sem tho mes ae apied ioe mas. serpin forte maemsiea mel Sotto Appling Nevin sean iw ote msm, oun mae(B-22 wean wate 215) an6 (218) 46 mah tenes thn bn ‘ mobos on thn An = ‘ Penne GES AGP TR noe ates Feure26 ample mecha tem32 sete ODEN hte Migure27 Burp neces sample 24 ‘gue 27 shows mechanic sta wh ee mats, Spi nd skp A ese ‘stoped tomas mad displacements pos sen hr Dene expe fo ‘sterile he ye eNotes, say tin =p thane aay (= 2) =a) =n 9 mE a29 Fae(B =P) -non yom ax» cn win 0250 40,4409 te ew motcn~eh-hnsterbn=bpee aa sheen on thn omer aan ‘eso at tn ama en mmo 07 fn] [oO] pn] peek “m0 fo pay Sm ol[a]e[e eo [nef ats ][e] [8 se St 3° SEI L em 2.12 Rotational Mechanical Systems ‘The as bldg acs fool mechanical sts he mae oie, son sing ron sping) andra per Pipa) Te pao state snl ‘yc ny eth true, te os abo dinlacenes, cal ye “el ‘A moa spss sonal spn, bute he pe 6 eT rato ewcen heaped rt and he tg aad ty sig ae we, a ee iknow the tio fies consent ue modeling we are suing "ems fhe ig ibid he ping ie “Tees sted torn sig when wine by mangle is pea by gabe. @ A rary damper lent cree amiga toate Fr exalt had we getaroery during oct The esonip betcon he spl oe. a a vel of ray damper igen “ nut ting teas fe retary geil e egies SelgitieAsory damper des a se ee. Monon of nari ees ating by wah amas When torial ab itarmporet ins we gta ager celeron, an thse rest bi ‘The rusetip betwen he sop ree, 7 angle, ed he oat iri. Ie Tis gents Toe: es Patent @ since a= 8, oe e “re com serie mot ratig wit an angular vey genby @ Some examples of wuts sysen moder ven el Pampas ‘Aik ormoment of ea i te ( Figae29) wh apd oe oT ‘Std on end gh an ele sh. Asming ta he hac be model+ sraawonsunes 3. Me Rend mat ya ‘atin spot and toa ping, die nego fr te mht mode of danger and srng ome ope apne 8th agar cement ‘smth equim, we can we raw ear 36) af. e staat, em es my i ot ‘aeastient ax» same ine 2.10 sows tional mechan ye with (0 mt eis srg ‘piediocah one Dees marl no far x yom an eet ei ew ings = (ie) am ronan) 28 an MECHANEAL STONE 8 anions (2.38) and 2.0 canbe wen as 8,8 4, n ea it, +18, 4 = ea) Wang egnosin afr, we bave (IEPs SIGE SIG) ex 2.1.2.1 Rotational Mechanical Systems with Gear-hain ‘ears ayes me very enor nary mechani egloeing sss, Fue 211 ‘Sowsssinpiegersran coi oft gers each comes oho is Meas eri an Suppose aT asm thn an hapa? a th {nator In sams we sue athe gars avn wks ya gece, theme ner he ger ase oe seg “Te rttial dipaceen fe wo gees pend on her ral ad 6 pe by tabontip nent ew ® 2a, es) ere ane te eninge off dear espcively “Theta of ete nes eal ora of ea nd gens Baan 46) hori he gare ‘ssn aa sapien, ec ner em6st MooEUNG fan, ew going he power nmi te ea, ow om chat ten 252 hte mre eld me tees ‘A example of sem coe witha garni en blo, sample27 ‘gue 2 Sonsa mo mca econ wigan, Dae mege tation sing tq pid ote system, ween wie ed Wt ro ener —n es) gare 212 ecclesia mECIRCALSwTES 7 unig he power rns by te pecan, fbi MD qe La Milt 1 aojar ~™ ee Seng 890 5 an ee 36) Since =a hi ges ten ase) coy a ay Hype nay mam 22. ELECTRICAL SYSTEMS ‘The tse bing ck of hci sens ae te esr nda apc (Fi (215), Thesnpes toon elec sym my beth voge Van caren “Therein betwen the oe aon esr and ces aught pe by wer a9) er ithe ance Fran nach petal ieee seh intr dagen erate of change ofcaret rag he ttc, by em ther int ocr uation (24 cana be wien a Eft aay ‘Tecmo inan indus gen ha eaat sys moceuns Teepe een serssacapaclar depend on hcg plas lan isgien » wed as ‘De taiontp bec the carat rough he spor and tevlg rom is hen * (nett anf wok fia 2m) ‘Theetery stro a caps depends ont capaciance ane vlge ars he cpacior sadisgienby entea 2% Se en ae itn, Ta rls Kat cron Sse Ki vas Tag ew as tty sh comeon nsed ical uret ian Te su fe carect nse a sci 5, he td ‘ret owing ino ay neta nce neque al comes eines Flgre2 shore sgncorenon at canbeenpined wen sing Kiet et frntoeo orth hein Pure 2. 140, ish en=o > cheung 214 bte-neo "he eatin Fie 2.146. ‘rch? rolag low The sm af vtges ous ty oop in cet 20, in ‘coining touce of eevomotne fc (em) te lets mi ete poe ‘pr arose cach chet eeme segealothe sgsac a the spd cone EFT Figre214 Aspyng Kiva caret ercmeN.sis gure215- Apying icin alage nis ingore starve sg coorenon when spying Kites wage A ‘example cats goeninFigue 215 Forth creat we Wie wetn tend Soe tapes he mde of ssc csi we shen ramet ‘sola: V bape ecu Date snopes mata pote Solan epg Kitt angen nce nsited furor, om Forte capsior weca wie 5 ewe 216, Sipe coatMowe 27 Ceol ete ROHL Sabin i (2.67), ania tie | jefe ac8te 4108 yea, eae) han ao be wt at Lobe + RE vob ve = Ve ew) Sample29 leat 217 sh nce cin cong of apc an nts an a este ‘eioctr aid he caputer ae comeced impel Alig Vag coe ‘ves maidens mse rte ym usin nrg Kite cae ew we can we fen, em te poe dierenoe cost nda cs the capac Sah ‘fetal dies sone nro Tas * em am be ex) mbicing 270-2.) ba, £ [octet snc BcoCALSiENS a Pure 248 Ch or Beale? 16 sample 230 Figure 2.8 shons ance cout cosstingof wo intone moreso acai, _Avolng ap! ote rsit Dee an xeon fr hs mae oe or he Seton ‘ne iri consns of vo nodes an wo loys, We can ply Kits cnet tthe sade Fre heherhno Et formmst fiends am Dieerining (2) wih espe tine,me otin 0-9) 0-n bfin-marettcs a at ec coe cae B- B+ Boo. am"Suton (2.75) and 270) eee operation he cei These tw eins canbe (ele) Ads} Yelts)-[] 23. ELECTROMECHANICAL SYSTEMS ‘al an comme piatons, iu 219 toes Se ate ta eae ote by emer propor sid care ss pnts mee Teka eal ee ihe gs pce. te og contin an ete mor caret A re, z ax) SSUES otic na tte te tbat di SESSA Lnges Sewers Tinemd opps nate, cm YRS te ack em ie tack em cos an wis te ng seed oe ‘Use Kiros eagle i rite he fing sui ar be me ob ewe 219 Sipe mace AECTRONECHANCALSISINS 48 ere Ye appl vokage, a Land at the intctance and esis of he Contig (250.2. in aa ka a) Bauaoe 285) che made! or a sme Ltn, desing cha of he neste Serle. The ede en Somes merece eens Moles of mr comples de moter cee gen ine lawing ene ample 23 ‘Santis ig hassel ma anh tal png efit ate deg are J te een of nin the ra ete met fief he oad i4 syseaooeuns {rosea tel Stag 280) ce san ne NS HSE he Shea Wrbb-ban a6) at (28) desetb the motel ote cst. These a eguins eanbe Go SMD +L2 210 Dols 00 -(8) 24 FLUID sysTEMs ties a git cally et ‘tia wel as cone! pc ne of Iaido, Sry "toe ol peas Inti secon, wet no the med file uid tn er aire, 24.1. Hydraute Systems se 220 Tse lets smarter Carel cote ae atindatnce Sn emceealeanen i equricar tins Son ‘ieee in ects cheuts iia peur eters Hydrate resitance ude ese cos whner ees resi fen sch owing {rr pe foe ares 0 oe of sees amet fe pase ae ‘tote sss aps st poten be hydawtesane fete hg te volt Nw at te al ydauticapactance oda apace ia ease feces soe asda ayn, Anne Ii cpuctnes le tak wins ener ste form f pol ecg. Cnet ‘Se ark sovn a gue 221) 9 nay ae nfow si oun espaely dF " am meter sek om wont ow shen ve ate eatin thc co am Noe (90 sir cen pnt £ fine oS yee netance (eeewee ihe Hid soviet Sd wn Apes New econ es se f= on. es ‘We can ow wie 253)a8 po meto as nonatt on ‘ed hs elope hepsi fea eo i eo ample: $e 222 ow gd ee hii ema tk et on eee ‘relics Beton he eee hott heat oe eg, Eee Piwe22. Lise ye | | | 257 becomes 298) seoaiing in 298) ger cm unton 298) shows he arin te eight he ter wih he ine ne ke ‘he Lapucetanstorm be ides soar y= aah + Aen dhe ster fnton of ten can be rien 30)" Taare Sample 213 gue 2.24 stows a worn gi lee stem werden he Satan at ete se ben ow tote seco uk eo, eo a ose Water en aes gure228, Blac gam of tea oye, erSL tho Suton ‘Rew vet conser bth ks =) eel anne Be, eo 210 became atts 2 (Lot ooh wo as ‘Equatons(22) anl(2105 debe the bi he tem, These wo uns eh (oA) L208, ovat Sim IL} [8] 25 THERMAL SYSTEMS ea Boh 22108) Themalespactonceisamesaceo he ener) orgies system, tq ste et ‘oning it bey an ithe heat Rowing ut then te diferece gu ~ 3 iste bythe ar annamell, eum es2 STEM MODEUING enCis he thema capaci. C= aC, an ete vol oft tk Sabning G110-2.16)at6 210 es 26 EXERCISES "fame mes ve mnt niin a ga ie 2 Consider tip feo mass spies shown in Figure 228 Deve shea 4 Figure 229 tows nple mechanical 2m, Dene on exreson rhe mathematical ode forte ste, 5. Faure 2.0 shows arto mechs ym. Deve cageson fore mate 6 Toran sigs connectn parle Desi an exes orb eu spring sis cose 7. e231 shows spe tn wha garnin Deve metre fe Be mae same et ete showa i Figuce 222. ese epeton rth ne ati mod ori em 98 gue 23 shows clot cia. Ue Kins laws ee he mata "0. Alig evel tm esto in Fig 234 wee at flow action ‘aes pet Ts sata as tr Sl tne Rl Ry ee Bon ‘sori rhe ethereal ne fer yc 1, wre 235 stows 4 ud lel oye ws see tks. Lig ene the ft tank atthe ie) and ives he id ana te eg Atoms ea we uve te sine ines. Deve a expo for fe meena! ce a he190 sceocoNToLiER eROLECT DEVELOPMENT tet) ees 15) Sampled Data Systems and the z-Transform“SAMPLED DAT SYSTEVS AND THE 2TRANSEORM Pre 61 Sane con tmIst aHPUD DAA SENS MOE ZTASEOOM NesmemNcrioces 1s L [| 4 | 1. Newetd plage ewe mene ‘where Hit) is the step fuoction, and taking the Laplace wansform yields Pim Yo neriir a0), a ‘A sampler snd zer-order bold can accurately follow the mp signa ifthe sampling cme 2 eet ese ene ar em I Eomirinescmpipet'acers hua Str: cdeos ntl og r)=0, for 6 <0, 65) vet gop net coe Sree « | Eat mp Lice steel spo cm Se Thun cura cer totcpestpa pis secon or ett oo ‘2a beapprosinaasy are hl (20H ae shown a Figure Ta ara ore se ‘enw tnformston alone sgl sobs, one ol hes he Vale re?) ads casa on t= ea eve rn ed cng T_T _ Le Figire67 sampler sd sto ort Figure 69. Regn cf a tmp e-e i o g p136 saeLgD DAA TEMS AND TE ZRARSFOAM IL pure 6.1 Sean eagle lxample 6 "gt 6.10 stows mia sap ovowed by aera ol Assia eng ign ‘Oisassoomnine gue sow ewan ere supeandasferte cet wo Soltion ‘he sigmls uteri el sapere ote laces in igue 4.2 THE 2-TRANSFORM “ut (6.7 dens an ini eres wid pone of "7. The asm is defied v0 he nsf te futon) 21] = Rw, (6, en by Hoye Sane in HO HAT SHAT? +r ere) rhe cette series ite sping sts “he etansamatie i sed samples dt sysens jt she apa armani ‘sly nding tensor af hot nen lng th ee vaso 62.1. Unit Step Function a. x20, 20) rane = 6.22 Unit Ramp Function ‘Conser a unirampfnction show in ie 613, deed by138 SAMPLED DAIA TENS AND TH ZRANFORNE Pewre 6.4 Fagen ioe mee ct, forte =F 623 Exponential Function ‘Const exgannti tins in Figure 6.14 efi i From(610, ne) Sere fort ce (om 624 General Exponential Function Consider te gener expt ton From (61, mie) fete + 3898-3 ase I Map ore ros. When) bp re ro of orm we Tne AaFe~ apy ‘hen oe pra faction expsion cane writen at nae O° Fog aa ee aaa tone ate cece a ay be ona +95 FESR182 SAMPLED DNA SaTEMS AND THE ZTRANEFORM Using (629) aie ime nso Faso Y= Ge5yg= oP soon Rene enn ss my _ Bete a Oyo ETS OEE Beet | eat A= Syne OHH BF ag FETUATNA Bi * SoS sapeomeST 5° ETSIEB Bax-2 oe HEFSE- ODED ugh " TERSORTIT B32 ® Fe t9) yGeaHSH |g TTT ales, (ue +5}e— 08s +3) +32 2982 + Bea] - ee ae c=e-08 016, 04s, Wcan now woe YE) a8 omsss | 016 02% | te eas T2083 F Tee meen fd frome ales 28 nT) = 01288 + 0008-5 + 0150.5" —0232F + O24Wr veyomns+ Mth 3 erin formal mtd. The vere sas ct be oid singe Ivenion ing ened ty from om PUISETANSFERFUNCTON AND WANIRLATON OF BLOCK DIAGRAMS 189 ‘sing he eo of esis he shoe tera c be ud vi epson or) = SD (esas otter an) ‘petmneun ns ssp ple at then te edo ete se (rea = =a 2) ample 613 Using be iverson orl io adele nto vem Sotuion Using 631) 632 wary Far ihe te aume seer in xa 9. ample Using meson omelet ad teen nto O° Tew Sotuton sing 631) 0 632, Tye | pe | yt 20 a= Tha* Tes” FW Bley FFT 6.3. PULSE TRANSFER FUNCTION AND MANIPULATION (OF BLOCK DIAGRAMS ‘The pls nastr uso ihe of he asf of spe cup nd the np eal ists ‘Strpst ve wish sample syst without exponen vn) = e060), 3)14 SAVPLED DAA SYSTEMS AND THE ZTRANSEORN Pere? Sitar soem arsine. Wesample te up inl ee ye) = daate. ws) unos (2) and (635) sha if atest ne fhe cots cos hse sailed, en he nfo of te pos eet pc he one foc ee te a fe) et) se aging an ley spd sin fares). Gt) the ener fron rw snl gua the he ‘sampling ian dale ts ate rerio. Noe (635) at WERE 0 Inert bot te opty) Steen hw sei an 43.1. Open-Loop systems ramp 615 Figure 68 hows an ope op sales dass, Dee aero forte aston ee aay esse Seaton see 0G) Pere tPoncet = eexcter a) = too, ramp Fg. 19 sho anope op amped aye. Desheaneapesion fre sant oie ouput of sys, PULSE TRANSFER FUNGTON AND MANIRALATON OF ROCK DAGRAMS 155 Hd PWGUNEW) Yor=leea incre” =ewiei'es 6.632) = Ziownaren # G04 erent nomen =z |} eee amples? gue 620showsan peop sled Des an erento Figure 620 Oper nopsenSeaton ‘The ftowing egeon cane wt rte se 20) = eG Fe=ceogten, 69) Y= "0620 Year eaten om From (651) ant (639, FUSE OTWOr. se) = anges Gude} mt ose cts te zoyo)= 22, at 210509 teen tcen i y wa) = ea); 2 eet None ar 632 Open-Loop Time Response ‘Te open ine egos ofa sane dystocia be oboe ding he ime ‘resemofthe cut ection Same earls ae en belo Bamps ‘nic tp signals plied he dei RC system sow in Fue 621 Caen and ea te oupuespome of Be stem, ssomang sung pode T = “Te wafer nto of te RC pens oe PSE TRANSFER RNCTION AND MANPULATON OF LOCK DAGRANS te hee eae 621 RC ye wih nse et Focissysem we can we yore tence yon eer ‘ea ing esos ges ye) = MoGe. Tee ctor uni ey feo it we sndite season of Gi os yay =H11009. ‘The ouput espe can be hed Fading he lever sor fy) Using ai sce, ry Coen 4st, wend ta182 saWeLeo DAI sss AnD HE ZTRaNGORM Figure Ga RCsmtem aera reponse Moa?) = 1582-0 190.3687 Theft ow opal a 3) = 1382. a) 130 dt oupacespane shown in Figue 622s given Ho) T4110 = 20) 1S = ITY LTAG aT. sips te pon on north ingens. Foran sige 6 te wer ices tap ar bvenB al s sets nena yn ese en Sear he pen cn eed en ea aly, ” Bangle ga9 suet seminal. 17d wih eo dbl Fgye 62, Wat rite stem opi egose bf) an sep inp sapien pnp site tied. en 2} gare 623 Cem wh ld PULSE TRAREFERFUNCTON ANO NANPULATON OF LOCK OAGRAMS 189 Sotto “Tetra neon of te ae ater omy nd taf be RC syste One oct ye we can we war=eoo.Ge) Me awtonccatey or hig mstems 9) =meNG,030 Now P= asad 6.630) any pri ao xpi ew 10309 =e oes sh (0 Foca ips, sie ve 05) 207 Use the Fr cio ebod wean wee x2160 —_-SAWELED DAA SYSTEMS AND HE ZTRANEFORMA gure 624 Sp pt ine open of Emp 619 Frome eves asf ables eid ht te eee gen by yar) =a 0377, whe asthe wit ste fon ae Yn) = 06541 ~ 1) + 086402} 095K 3) + 09854) ‘The ine espouse shear ishow Fg 624, 1 Borst ramp ina ‘te se ott eons wih Die giendy ose 6% Tre 05) * PE eo sign vn ts, we kn ter few op saps w= PROBE LSE 2a Dae nde cups esgnse vest Ha) = OAHU 2) 4+ SHE 39424550 —9)454080 94. shown in Fg 625 ample 620 1 epenop beck aga a system with a eel showin Fe 626. ‘na pee sem rpm wen pp epee a min PULSE TRANSFER RNCTON AND MANPLLATON OF ROCK DAGEAMS 16) er eee Bay ewe 626. Open system ih eet ‘Sotto ‘Teta fnctone te eater his Peeiee saasctihe pes co Farbis sytem ween write Yi) WGK sematinicsoaen aking moms, He) = 10,630. Now T= 13a 61630M62 SAWPLED DNA ssTEMS AND THE ZIRANORMA GG er “omihe stefom utes in aoeoeo-ey[etp- “eee atte + 0.2664 Fe rok FOR seroe dso we obtain eine espe a) = 0367 = 1)+O76ISHE —2)+ 0916540 —3)+ 53.3. Closed-Loop systems Sone exals of manipulating he sop sytem Hak grams me pe by hi ‘ramp 621 Hk eign closeoop sale ds sem shorn in Fie 628, Des “een fore estrone sen. ‘oun ‘eth sem in Fg 6:28 we write eedarte)— Hany 0) yr = ence, «9, PULSE TRSFER FINCTON AND MANIPULATON OF LOCK OMGRAMS 143 op 28, a ~ Pierced op sales dua sysem sean (638) 0 (638), Koy= ne) GerMneo9 0) o=ro1- aon") 7 coe ee, way sa fom 6, a) 2 wre aing eh om “The pad up ten ayy = Eaten » "O- ara cD ‘(64 eestor oma rei oa 20° Te z sot be anes ny woe cc ws) a7 Tams CS sample 622 “The ek arama ce Lop sale dase sown in ig 629, Dsve an ‘preton othe gt acon these Forth ysem in Fie 5.29 ec we yar ancey (646)(64 sap. DANA syste AND TH 2TRANSEORM ae Faw ” Mure 629 Closet nop samt da eye, an =re— Hey", wn eaiing 6.47) io (646) weobain 10) = Ger) GtaHUY*e a) FO= OO) OH ose (6a) ching ey mes sy 008) « 7 O- ire “o ones ro a. sy sample 623, te lok ig of» cseop sampled dt ceo show in Figure 630. ‘ie mengresion ete ante fnton te pam staon be A/D conn cane rota win ies sper Sia he DA coment ‘be opus ei cevoler canbe prota with e-eha, Deene *o-f} {=} ie Pgere630 Clo oop amd a ys ‘ASE ANGER RINCTON AND MANPULATION OF BLOCK DAGRAMS oa xa igre 631. Egat aga oc Ele 23 te cia conote by Ds) an combining te zal nthe pat in ise ‘Unc Gaps of tx yacm canbe denn a in gue 631, Fortis samc we As) = MOV) os Py M0 ote at dil computer itepsenttas DY), Linge atone emo egaions, econ cD" 00 ws) As)=rgy= DWNGUHEDK ese) Pere Dna d,s ee, weetein So. Sr 635) a oar estou Te wary Ret eeneeeree 0 - 1638) ener aeooeel = ra 7 Teor16s ——-SANPLED DMI SYSTEMS 280 THE ZR Fiwe6 Claes ho sre 43.4 Closed-Loop Time Response. Thechost oop ie spos of asamp assem canbe oki fing emer "fom of ela incon Ste xan ese ow sample 624 ‘smtp tee aa il nan Fg 932. Me up pie ct yen hen Ca iat = Ga rom, 6a= IE Hen sy 08 epee vs ue aime) TARP Dee Simone fren 8)" Be Te See =, ose ter ong vison we bain he is ew teas He) = DOI + 2 135 “Tes 10s of he cups espns ae how Fg 63 64 EXERCISES 1. Afecion (= Zand isampledenen T= 0. Fate ramon a erent amber jen ine 639 Fit ouguamper 2. Finds ernsoe of ean 0) = 3 5. inde iene nesta fecion wore aaron) 4. Te otgutepoe of ese eed whe seo 0 Beas Os (©) Aply te laloehre ockee lalue the up when 2 it (ap Check our eh by onan te nese rao of (0) 5. a te ime canto elvig Fans sing bth eg vision and te tnd ofp ton Cog em Reb a outs ove= as 0 woe peEED, =) co Gin = oye) Te“SAMPLED DATA SVSTENS AND THE ZRANSFO mee m9 Figure 634 Open ion ssem fr Bei ewe 638. Opie ste when hl or Bure 10 6. Consider open nop eysem eninge 64 Finda espns when i sep ape a OO" aa Draw te euputwatelom of Eerie 6. ‘she ssf of the folowing unin, saning that T= 05 = roy aes ea be aor ofthe ellowing anon, ing ahs: O10 5 0 aE 0090= TD 0 eID Fre 535 sows a pe lope ih es oderol Fed e opt epmte sina on ep apts appl, Astune al T=! and 00 ea Repeat Eerie J0for ease where hepa usr function en by 000-5 © oy Derive an expreson fr he ane Fncbe ofthe costo sso whe Hack agramse shown in eure o_o 8M, oo x ger Cad ip ten Ero 1 RATHER EAONG 169 on _ of Mgure637- Cost op sym er Bue 1 13, Date a trenton the ouput ncn of te ht pat he ck i pumicshowainPigue 631 FURTHER READING ar ite Ao ne We B Cane Cnld yt Pa Enel Cie (Asem) Eig Rete Cre it Sie owe BAEC eC Sos he Aton My Rae MA ‘eum 8) on War ec New 8 rattan Sct tan ge ys ya, (vty 8 sl oto on TR arama fnve——_ itpurcntiegen cata meat cyarmentinesn ton REET cont {1 90) oak ‘ee ageing Se tn, Petr Hl, gwd reuse am‘ae Ca Ha RD Fick Ce Sm a (185 Fg Soom Co ah, HN a tse.) SEC gt Cpu Pot lt sn Rabe Ceo) ak i rete SET Spats St nC Se anes oa7 System Time Response Characteristics ‘Ge espanse ofa siniar continuaassysem In adion the mapping between he s- domain and 7.1. TIME RESPONSE COMPARISON sample (AID convener and the 2er-ardr ok! (DIA commerte) have Ben removed. We ‘Sale ean fore pepe of th pts nd thm pd pee AS described in Chat 6h ar eon fhe be doen syn gen 7 Teo a ris nt sso of ep gen by awaa-0)(4 be)m2 SISTEM TME RESPONSE CHURACTEAIICS VE RESPONSE COWPARSON 73 ‘rom Figure 7.10). te rt iment ne te rst fens « zon bE wo a a. yi) Gu) _voweDr Fis "Te OG)” THe” PasFT ee cupttecrmes way “ofitelevene Lapae easton nec cu asi seas os T M8 TO Beas 5” ROSE Os” GOOF Frommer Lapa rn ese tha he ine espns i = oye te cost 0577 snd. igure7 (9) Dacet sytem nd) connate eet Figure 72 stows thine reposes oh ie dette stem ae comune ime cat The pee eee eer nw err [Rion in tee, be npg pes a efor owjaa-ehe[3 From zion bls we tan ew=a-e9[ Be Seg en stip ses y= os =025 Fo 13 08 Sting to 1, We oben ewan toe WO) Gig _ ose 40266 ey "Troi" F=e +088 ten ing (7.2) sth oop 0.68 £0260) ine 20 ‘Theis son canbe oy log vision fst ever ems me Ye) = 0368 Le + aes LIS Ese $08 408 0) ne tine espn iseenb ner) 36850 — 148 = 21 LAB — 3) LAB — 214 LIS) “F.9Ke 6) +08 7) + 08TH 8) + gare72- Spent ote yest nse 7 a74 ySTM IME SPONGE CHARACrERETCS "2 TIME DOMAIN SPECIFICATIONS he pfomnes of conyers ene oes freon ep fp Toe step igus aed cae yw gale snd es the Sys non tyme conan. wach on be mead ‘hcl ine oon emis nent fr nee eee ese the damped oily eyo a ¢ ithe apn ofthe ‘ena secon oe syst excited whet sep ip he pil ree 2 Sun igre 73, Bed on hs fae, allowins peormace pram a tly den: ima feet pak Ue ise ane: engine: wd ey sa "Toe maumum ven Mish psk valu he pnt cue ese om i ‘spree wy gael 3 percentage The anu foro pds the ‘pin reset eh lave sable em. “Thea ie ys lid ms thine ued rte esos ah he a pk ot se oientot The tems more sponse When Be peak ne sale tts ese Serves “Tee tne, ete ine eed rhe sponse mg em 0% 100% os as ve isa msie ferent fas an ls tans at pie ‘The ang ine, eine eid er he sponse cet eh ey win ng aoutte Ea ve A vale of 2-5 xl wed in performance pees “heey ster. s hemor acne seeped he eee Met se iy) when he tan rence sendy te ale A a nye ee “gener in ot contol yous In some coated te sh poston Cn i or terequremen ohne ed te Po igure 73 Second sym nit ep oe TMEDOMANSFECICAIONS 18 Having iota the amt, we pston 1 ie fore fer er (wes woe tee ine eaten of ee ome sol eo oaks on cone ffeay), Te uname ovo cust pea me t= Tani ny Mae ON, ovat sty see eye ping ie awe te dang, the hpier he ero igre 7st he varie of he oeroo ened a4 ‘erage with aang “The pea eon y eset te up egos wit especie eg tise semis gen als wee ‘ste ange aul gue “The vs une soba ys te uiasepunet an fang Metin ee gen » “Te eling ine ly spud or 2 or eae al nis ey Tm hte 2 senting time) nme inguin “Teeny roca owy ing te ia aa hor fe Lapse be ouput espe 2, he he a eta sae vale) ey yoo, geese pwet4Vattonaf eos wth damping ae6 sree Te Reson CHARACTERS 9 eats or wten ei ep ips api canbe foro Buel = Bert sample 2 ‘emits he perforin pranctrsfhe yem en Sein 7.1 wth orice “ walt or uring hie sym wi be sal acon ete) tar enti we od 1" FH nha = 0 ay 1 Tas the Spl atl ny ay = 0TH = 086 My neenF 165, The ek ies ine 28 eset (5 is aye sto ste err Ean Ig 0) Sasa" MAPENG TE SPANEINIOTHE 200677 7.3. MAPPING THE s-PLANE INTO THE z-PLANE “Te po ction of «eet op contauuste syste i he pe tine te ‘eherursadsubly ote sytem ane car stage he espns senyPostonng icpocinte pace is dele She sme forte mpl Ts cok ‘seer he abi bere he ue te ple ad ales the behav {Sten cle oo oleae ae tse ond cater the apn fet a se fhe panes the ae Le 420s Joderten at thes pane The ang be jo peel aeTet us ~Osawehne raeM comes jsinal = oT. Hens. poets saga sine lan ae apes eno nice Inthe pie es change ars themes aside ae he ange oe pales co ‘tec ihe sane change, ‘Wari lot cinta sented a he et adie, he ol bon i the ‘ple move mars he og sy om the anit ce Simian. fa deceased in Ine left ine, he pl cans ee wpe move avy fom he fin a he "pln Hance ct fsa span mapped i the cer te wn le in ‘Glare Sythe pcan pln mappa oo te eer of eat ea ‘fe cpl. Ar fare se uty cere, pd aye el be se ‘fie cla pple or te rn ofthe cacti nun) He wine ni Tae 7S snows the mang of tad ple eae “Arshoun i Fipse 70s of cosa a he ane rapped ito ces ine lane wih a 7th i tee id ce fe ete he a Tee nse line er tan | onthe eran tee ste ans of {he pine eats of he cee the lane e reer thn gre 77 shows ie ‘ening gle caine ween pe a he fae te se ire 75 Mappa he leans shen ane- re oe bn ull 74 DAMPING RATIO AND UNDAMPED NATURAL FREQUENCY IN THE 2-PLANE 7.4.1 Damping Ratiote gre 19 (0) Lif cont aig re.) he comspnting asia [DAVPNNG RATIO AND UNDAMFED NATURAL FREQUENCY USNS FORMIAAE 181 Pwr 7AL Lace con tee Trusting a segue, whe om wna rf Toe oe fens ute pe i ge By (ad is shown in Fg 2.40 the “Ns tie oof sonst dann at andthe lc of eadrped asa tensy 7.5 DAMPING RATIO AND UNDAMPED NATURAL FREQUENCY USING FORMULAE Insexinn7 stone we ow o tne apne to ante unapd aa qeney Sty sing beh he ew ve en cy w= os ‘Tho pleot itso at ot Joli oo We can now id th eu plne os y making he sabaaion¢= 12 sySTEM TNE HesPonse CHARACTERISTICS we wc wt sentse ow pact ee ta au toariie oan Frm 12a eh ee. a6 ae nto 8 non a= ER, ro sanlet2 Cini so desea See 1 ih stop wana wo) Gi) eset 0268 ia” Teoa” B=: 5008 ‘te ping a nh undp ts ese, Asume th = 1, ‘Soustion ‘We med te pls f the cseoop var fensan. The ssem cutee suai 614 Ole) = 0, Forse @-05~ Josie -05 4/0519 =0. ‘ihc wien ie parent 2205/0818 0795: 208011 28 (ee 11) The ampere cea ing 7) gate =in0.795 Vien s8 * Tiara oe and fom (7.15) te dpe stl agen i king = v= RTT = STEFF =080 pureses us ewe712, Fading nn, gaily samplers in ping rata vane esuency or Ene 72g geet eos ‘Tee charaserccepin of hese is found tobe Fo e406= @-05~ jo6in\e-05+ jas) <0 ade pls tele apse ae at 2 20540818 ue 7.12 shows as of te ost dain ri ate ct fhe nap att Frees nthe sf he eden tem mae whan one graph rom ie [pap te co eth aging 035 adie nae al ego ae 7 EXERCISES 1. Fed he upg roan te unsp aul guy ofthe sample a ms ow harass equates a elon enss2=0 oe (2-ss1=0 (ae sonco8 System Stability scar conc wt “pends one ot of he pee ced op tater onion, oe oo he ‘tasers eqaioe Dz) = war own in Caper? taf ed se he ‘bs wie como sem sable ups ea enter of be uns nee ‘ne Tus we en Sy Da ens pie il be be a ot hie idee once oop pos. + Detecmie he sem sy witout tng eps fe cle ope sc ‘tule pln tones cheney fon amas oe Row aie + Usethe eocecs apical eigen panto emit poston them The vrs cigars deed nts ston wl be sie ih exams, 8.1 PACTORIZING THE CHARACTERISTIC EQUATION Inet as eager uy) oat ie races ean, ‘his pe af west co nl el es wheter o mes sytem stl a ds et tells about oc mpi a sbi or ow he by afc te gu se herPigre8 Cleat ope Pramplest “The blek gram of lott np ye oun in Fg 8 Dstmine wheter es Gosysemirsune Asume ar FT Sonn “Tectoe op sysem ster functions 2-S e hl} -0-e{[zt5]}-- SES, a 6a) = ‘Teco fhe carci gun ae 14 Ge) =O, oF 141.729) 0138) =, te sation of whch fe =~ She which onde at cick, Le he si et sabe ample 82 Forth sytem ie in Fane he a oT for hich he sya ale Sonion Sm 82, “Therotsof he haetsicegatonae 1+ Gfe) = Bert 4211 Tye e™) = ageing ren = URS SHOU TEST 1 paseo, ‘Teysten willbe sabe fhe abot ao te inside hw ace ae rem) oe T0568, ‘Tose syste wl be stable a ng a he ping ene F< 0599. 8.2. JURY'S STABTY TEST ay sabe sms ode Roma ay son wed fer onan ite yn, longs ry stem be ap chet guns or only cessor seme “escent character gen fa scree seen fone Famed toni b barton. «s) solu 0. We fom te ara showaia Tale | The lees ara se deo’ 1 Teele of cach ofthe even sumer ows the lets fhe resi oe 1 Teeekemens of te ft eed ovsare dtdWo ytem satay “Tener stint condos fr he char equation.) hve ons FO)>0, CURED 0, lalee, on a Jays et ten np fons: + Checkin te sions ive (84) acd pany ores conin ot sas * Cenc hay ssn a he he cnn pre a) Spy uy tet an bcome cols he ee of espe nese Foe ti fc e123 eet aes the flowing spl aes, Geshe cond ne pce ‘Saris eguon Fe ‘orotate yt hanctriic equation Wilbon or oie the wi ciclo hat FO)>O FD>O, lalcen iene in rer yesh eution oo baie to, =O, hte» 0. Fiymen? +02 42 -+ay=0, whereas» 0 ‘ot ofthe syst carci eqution wil bon rouse thi cl rove ie FU)>O FO Ialeos, bef Sl >l[s 2 ‘Baplesarepes belm: vamp 83 The ltt oop rns tnt a tigen by ay Tan here ouy en OBE BS Fran 0 ete hil of hte aig Jy te aveesswsurvTest 1 Seton ‘Tecra equations oxsos Protas OOS og ‘Alig Sst, Fuye0d>0, FeN=2720, OF <1 ‘Ale cons esas an te ate be samples ‘Tecarstene gun of sym gent rone0s 1 nt fi uterine i als fH or which yes sable. Sottion “Techstreet 24 02K = 12)405) Arpinap inet, Fuy=07k 0250, FED, ‘Thus semis suber 285 = K <2 Brags ‘Te chrtrisicequnton ofa sym es by Foye P28 + 1ae— 08 =o, examine the sail of esse 0, whee K > 03k 42250 05K <1 ‘Sottion oping ays.) = ee = 2.8) = L4,gy ON and FQ)=03>0, Fe £5 <0, ODL ‘The fist condos sed Appin the oer condi, [Fife = [en sine 099) < | 1.21, esti nestle192 optem Soy 83 ROUTH-HURWITZ CRITERION ‘Tes of sumpled sys cn beams aafrming te ym charters _ilton in ths pls an then apne walks Rou Hare can, "Alinta sly snd ant te Wad plc noe eeoe ‘fhe cele inte ple. For is tantooatonepcedoy lee ott es Give te trace eutoe in Fla) = Bi a he Roth Hai ray formed flo ws) be Bates eta an ‘Theft wo o¥s rohan Hote eto cya te er rows arcuate aston eyw fetbrs “hoy qu bested pean ‘we Routh Hari tron snes tt he umber fot tarts eqn a te rg tnd spine ie oe mero sgn Sage oe ceticens eee ‘ehmof he aay Tots fra sable se lei nh eon rat hae de snes Baap ‘charts eqaon of spe it ye gen by Po 2407= Detain tn sbi of te syst ning th Rost Hurts iter, ‘Sotation Tafrming be hacer ego ithe wlan ies Ge) ies i iwe82 Chuct.ise sem ane 406 +07 Fring he Routh Hari w)2702 sloee mos ‘ee ae nig hang nh ior hee ye stale, ample? ‘Teleck aga of sampled systems shown Figure #2, Ue th Rot Hurviz ition io temin te ae of foe wach he yam sae. Ase tt > Oa Sotion “Techie +) 0, ouy= tse ee ‘Tee sematrmie gienty ft rose 034 08) e068) “Teecureteisc anion _ Mlasets +0250) 8) e368 0.684) 40368 +0260K =0,194 Spt stay “TWnsoming othe wan es 2) _(L42)aaa-onan sone ronan ao POE —O.10HK) + wh 264 0598K) +06K =O \Wecan aw frit Roath Hawi ay 2] 2736-a00K o«aee | bee —asoee o ool oan ‘Te syst ste hrs sign change inthe et clan. Tos. fr tii, 1268-0st4K 5 0 84 RooTLocUS ‘he rorlcuis on ke mot ove elie sed sans etal of eee tao sym, Tenis oa ned gn conelon wi ee erase Chai Te otic pf ec of Whe ren eon ‘the gan of este svar The se ot an dcr sine syns oe ‘Serato oer conics, Trecho eatin 0 ‘Sep we te se ro of On = Othe pee Eve ante les he ‘Seen fe tes gle ere nh pln sa te ae Fo ‘angle acon emission edad pine Adee ie ‘ye, nth her ana abe fe a ae ith unite The orion td Seratsotteratoasarcntnoar ne ster accede fs ‘Seco ol ingot ies fo he cons te Seem at st a et ‘Tis writ eames. ‘Gace te das op system nt con En Teams we a wee dace uatn af 1446) —0, en he et ast can ten be Plo a isan The es forensic oat an be sari a lls 1, The cus sso he poles fF) nd ermine on he eof) 2, The reat loa immer aout ai, 3. The ot usin ll ison ce ax 0 eff an od uber of poles and 4 Fo hs eo ini esto wll ne ype 4k 9-Te nmr of ‘symp: sep tothe utero poles, manus monte of asm The aes Sttesiyepe te eer or Tee syrnerthe a eto re Epotsot hy = Sasso 5. Teratany pat oe eat of eet a ee tt ca 6: ttagimisn eros Dea ey reeRQed oe tenet Fai Brag 88 closet op stm asthe chases gun “bontey = ew B3ELOTD _ POMS RTO) Dre otc de tein iy of te ym, Sotto 1. The shove eon ine frm 1+ 4F) =O, wher osssts +0717 ane 0368) ‘Thesynem ae topoleats = dst s = 0.368 Tree se eats = 0777 ‘oceans iit. Thelen wl atte ples ed rite eo Fy 2 The section oo he eal als esween ¢ = 0368 an = 1s 0 te, Stay he ‘hston on te eli tetwesns = ao unde = -0717 fone oo, ‘She mpm I sone spe nde age his amp ater ras Not ttc eagles ote yep a 2160" nanan te ea Deineneson pose fe sya6 Sytrm staoy 4. The eet ons can be ond fom 0 a7 36 Ne — 0368) 03646 + 07 ~ 1269 =, F414 13H 0 sedi oie at Eo -2and = 0688, 5. Theva of at he belay pois an bee rm hich ges = Sand = 0196, ‘There oct of hess shown Figure 3. The i ce ang ome he ‘les beainganny ste = 0 688 on her stn snejoing e alarat 208 soortccus m7 eer 8 Resco tot ie Athol ont at he ca mavestwars the sat: = -0 717 ad a ee Figueroa heat cece eons ase These il ecme aril sable nent la io tance The vai ok ee ps ‘be onder om uystetorty ag tb Route Hurston ‘Using Jay's st cacti get P= 00368 03688) +0368 402884 =0, Appian yt Fuy=06 fee >0. ne, las +0358) <1 hich ges K = 239 for marital of este.98am sty Baampless ‘ForFsample A. calvin the ve of owe eda are = = 07 Sotto Inge 8 heat ees of te ptm eran whe sf cna pig er ‘Sd cron rate spe, "rm epee ow sthen =O a 2 = 061 £025 te Fig 88, Teva of cn 0 be ln ~FBlsunae ramp 30 Aci onp spt ste cacti gun Vote rahe roots nl tence aris he iy fess, Wh wl be ae of foracampng ane =O and ar egy ef,» OS as igure 5 Rot ce itn oun pig a sr ge rooriocws igre 8s Reaing eros wen ‘The abone goin sine fom 1+ Fe) =. whee 1-02 Fm Tasers “oesyen asta pois a = | nate ~ 05. Thee avo ses eats = -02 and tether tiny. The es wil stat Ham he Wo oes and eae athe wo 1. Thesestinonterclensbetwean z= Sands = 1st loes Snare seton miberel sus baweens= co td? =02 bon he mcs 2 Sineny ne = thers ne ape and he an of i symp 1 1M fore = 41 Not at ine eagle of aes 180i meanings fn ee wis Ineneson pit of eye 2. Thebans canteen se190 sysom stey (152405) (022-19 ich see Pas -02=0 5-029 amd c= 0689, |. The alo of atte break oi en be calcu om hich ges = 0.12 and =2.05. Te otc af yn shoe a Few 87, Teil tom is le esse says sul ae poles ae oe it Chl ral vale ot ine of conan ane agelar que lat eae ssi gee ‘Assn T 15.05 > O6itheron aro tele and sdf conn aela iejueney new, = 02/7. Theda awl pet han Otero oe lo cost ping to Hie ¢ =O. Apr! ssh hse proper has bon cow ewe Rost oc for ample 0 Nau CRIEGON 201 veers Figure 8 Rot ce wth nes ofcnsut ping at ge nd shown in Figure $9. Tae tat hs pt en st cans te ested 5/032. Thevave FOL ssa hia ges = 037. 85. NYQUIST CRITERION ‘The Nyce be of he wily we stil nye etigns inthe ane, based One eueney respons f Ue system To deem the fen) respon ‘inaous stem ase fancon Gt), we wae sy J and eee attr uc {jo Inthe pane te Nj cme bre on he pl he nage (0) ‘gate sgl GH (a0 ane Ins simiar mane th ety tpn of tan futon Gia eae can be uind by main the sbtanen c= 0" The Nygun rn i pponece de snes y ploting the mage of (OH (an gas eae SCH hone 2808 Zone,Fiewre89 Pileeg > 06nd,» 08 sre is the mare of acs cles aon he pit I, Pte names of ples ot Sm) ara ete ni iad Z hetero ae of CH) Bae oe ae Fors uablesyatem, Z met be gual mshi te names of lst kes sour e pte mst be ule nather of pols Gi) Totus nopalesoubide unt ciel then terran ome np nor say ne Nyaa plu oes te pot = ‘an eamgleis pen els: Example The meron of cloxéop sled data em gen by Go Teoma os Se Detain te ait ois tm sing th Nyaa enon Asse a = 15. veustcaTeaoN ms Sonn stung s=e"7 = cosa + sou? cose sina, Ole ~ eae Tie = USKeee Faw =OH Wine = aka aika “OT oma +01) FJtmaTeo OTs) ‘Ts as apes (CO) Tagawa ateaa +01 + Ommacoo TO Tmoe spe daewoo 07 anw ‘oleh saan ftbe manne of with te plas angle TheNqus fora oharge shown in Pipe #10 Sie N = and P=, te clove op yes ro pt ude th unt cient pane cd essen ae “Tee Nyquist diam cn aoe pate by tasting he sy in he wanes ‘een xr te san lane Nyt. An earl pen eo Prample 2 “The ope op vse tunion oa sy eek sale daa ye given by ax: ese exiie forth mage andthe pase of |G) by aeons Be ye othe ane Seton ih ges a wy —w) lee Weel aa)= 1K wi W208 ~ BOF Sy"Bb? Magrote ml pe fic) SOOEDAGRAMS m8 z cea Desi ew om be mien pe fe tn = ¢ fn be 5 eae spine of tone rt nh ss 3SaeS) Es cee = alter Sew UES ‘Remsen eeu ee Shcon Soe ee Sanaeot Semen louis ‘ne See Viamais ae a “ Unita tage ec onynun' i? vars SR sures oe ee 9 on Hoes ewes Sues ws -tn(22) ereiae Sim; atc Micros hea ste mise Zama! co {86 BODE DIAGRAMS Howton 25m Hews anol 1 Dot apt en ein inne yt me mt pi Eintao Samu) Senet espe hs wba eo em pe eas Setwctimn ke ‘iSync eee ee He 3a fossa ache apes eas ey 2 iat Serine me ete fe Sms on sen ne ethene oe wvem(22) oo ‘tiscarnn in patie «star tsfomation the oe en aon, owes he ple nso, sh iss ln elegy ever th gary ne ane ode w plane Tae plane anfomain Ste 09) earn aww Tap ste tegen inte plane a tye expen 2 wt ro we dul, wan gare 10 nul tr Bang236 syom sooty ote ta for eal ales fh re frgati epine igus) sch ht wi sal, Cibedcesw 12 Thus. pln gency apes egal one pin teueny. Thiappon| ‘atin nya rsa vlc wT ssc at na wT es “ 7 ie cn ao be wie wsh a w wh isthe sampling feueecy npr secon Ts nro fii athe pln nd he pane func wil be sprit cl wenthe pcnys (Gan one eno be sanping equ "Necaruse th weseeruons genie (6.10) an} tnstonns snl dts Ino te wpe nl ene the dard ston ee Be gray Som: example Bode plas orsanpld dtc gen el ramp 3.13 {Cons tele op spl a syste ee Fig 8.11, Dra the Bae gem ed erie he sul ots sense a7 =O. From Figs 11, eee Cane am “tring te ten te wane ger ow) “Tenant oqcey eyes an he pasecann becca fest = ju ‘ere he mga fa arc) 2 Ts. 50 = 908/0) oun = 20 208 ojo) 2 EOE i= a 26450) = ~ 1a 009) — 0 as) “he Bae cnr fe spe shown ole 81, Te yt sae Fewes12- Bade dognmot espn‘The lop taste feasion funy fst snp dan stem is enty oie) bitten 0.254 © Baie Ose raw te Boe Sagraman mys te say of yt Asse tT = 1. sige fost ere ore msi — 2404 12.14) wer ‘Tobia ewe apse, we ean eae wv ng Qossiije— 2440 4 12.14) w= om Tepes OOF ‘remap ten ojo, = SEE TEV Neo at coueyaeer! Ene! oop anh 2 ae im ‘he Rate gram is shown Fg 1. The te be with gin magn of Se edaphic 0" 8.7. EXERCISES 1. Given below rhe hacer unos ofan sample a yt Using as tet deemaie he sen abe @e-ia10n @ 2-08: 1200 (9) 8-2in +200 0s=0 en 232tige—on me 2. Thechuncteisc equation of sampled da sys nen fe 0342 00+ 1 Detemin te ily fe ptm, pwr 818 Bode dan of ey 3. Forte system sho a Figure, teint inge of K fr sbi sing y's 4. Rees Bis 3 stg he Roth erwin 5 Repeat Eure ies he ot oan 6. Tera ain ny eck split seis gien by xa-02) 8 oe (Wotan xpresion fre lost op vans featon oe se, (0) Draw te ot lao te sem nd ence tem e aby, ewe Sym fr esi9 Discrete Controller Design ‘he csgn of ig! contol ptm fis with a ewe mol fe poe be ‘eat Then contol s developed at wll te eid sytem espns ‘heleopscse by wag pal congue he contr Te sanguine he cnt ion rer tee he nes pone. ‘Seen mete cn be wed forte Ss oi cot: + Asya une fnto soda obtained ae ple. Te an ft t ‘Se etsfoe no expe nthe comer cng oe * Segmented sme decent et + Thecontinoussy su ast function suaoredinthe wpe Assblecontler ‘sen designed te wn sng te messed ne espns eg ot) et ‘rghecy sponse ep Bode iron ncqus The a! sn ane tthe ‘tne inde gwitin simplemen on he pl compat In is caper we my srs i esi of i comer wing he ‘chaste cna pred etn ne "The poe for dining he cole an can eons ows + Desve te sane fscton fh sm ite by ing thems apis oby pevlorng seen or time pane sai + Trasfoon sytem use fen ino he ae + sigh sub icone ane lane + Implement tne conor loro pl cempetet | irene tn an en my ete os depending oe the pe fing stetypectsnut ual Ppl shows adie se whe the tee ae ‘Sno sea andthe roca upto a slg gmt omer Sec fen i cmon hse Shall il frst hey can be roses) ¢ “lpi conguer A tweed at he out of edge cooler appa BA ‘aver hich procs logs veh la Te Figure 92 te vleence nat ipa en, ie i aly et ing esos occente hart eden te cong The eck sigs dian teey ewe. ise tne system wit alo rence apt pare iret sen with lef pa orsign soe the conpter aftertaste ‘np Te dal onto bos implanen tac comel iin ad dere plane 9.1 DIGMAL CONTROLLERS Inge we cn ake sf het gram own gue 9:3 wh ising digit nol ish eure, ste etre mp Ete eer nal UC) he et ‘ofthe com, a Y() the ett of he yi GL represents the dined pat tater iene gether withthe eb a “oe ci pense func e 5a in Figure. can be writn at Ye) __oiewce, al" Tro oa) Now. supose at we wis he cet op rat eto he Th re) r= 78. 6» “Then the eu coma hat wil pv hs sep reponse can be fund by wing thane 11 8 aS T= Tay O82 C= Fear 93 Dice en 0% etn (3) ses tat be egies cons D() en be designed i we kaw he mae ‘ie rons, The er Dts) stb chosen So atts sales canbe mae One ‘tthe escton alfecig rea eth (mat at ave marae et ‘ict thf te nor Sone coon cnls bed on.) ae dss bow 9.1.1 Dead:-Beat Contoter ‘The dat batconralerisen a wbich pint ifoLowed by he yen wy by se ormeresaping eis tes ey espns sequel eel Oey aL ‘Spin sant he apa of eit pt. "Theteged close op ante tonite rw= -From(03).he eu ii conta sae Fc i tow 1 (e 0 pera * Wa (T=) co An cxamole desig of contol ig he es et agri piven below, ample “Tope oop reser fecton opti en by 0) = TS Designs de eat ta cooler fries Asse ht 7 ‘Sottion ‘Theta finn of he te wih a ete le en by t oneie| | ve | aaa Eres} From seamen bles webb ei =e Te 019)= Frombignion (23) 408), 1 re _ 1908 0 Fee T— Te) Owe Ta218 DsCAETE CONROULER DEBI Figare94_ Bloc dagamcf be mse ot Engl pera cowmousns 27 Feemalabty we can chose EE 3. Chasing 3, iia wl Ta eras i 2 nas0s 8 SoG Pigue9 show te yt block diagram wit te console we lg 9 hows he step pone fhe yam. Pott eons nyt 35 (Cit ep a aye (hale Iino to eal at he sponse Comet ole sping it 1a fe eps cin mean sty bev eres he png et, "Te con signa ppd to te pai shown In Fig 9.6 Althea beak conte as povided a tele epee mpi he cont i my SIT ‘core tna) een stare epic. resin septs Pigure96- Comets “The dents conte iver seesie we pl cacti sd smal angen he lacey tingag oly poe . 9.12 Dahlin Contoter ‘TeDalnconrtersaodicasonct he dest test cont pede epee ‘espns wich octet oft dent cour “oe ee espns fh sym ini plone canbe shown be vont «| ee vee aga cae ghee gn ee Fie. wee =A en etuonrteoape a rye Ene O° NRT rc sted ae fan ewes Seprapnstte en ro 5g "Te og)” TH 77Esampie92 cure Designs Pain gc fre soem Assan that T= P Nee 2 eyo tel ag Ho) (te gure 98 Sysen sepa wh Dance Forte cena Fu eo g = 10 hen bem te THe) | 1090 Los0ie' vans Toss. Tae aR 095: 08s pee 98 stows be ep espose fey ile hate espe i egocnl t copes. Dara be Toe response of he coma & shen in Fgue 99. Although the sstem esp 9.13. Pole-Placement Conta! - Analytical Toe spore of stem i emit te porto oi eae oop poles Tes, by ingles the outed pts we old be seta an he sponse ofa yee20 —_DSCRETE COMROLLER CES ieee 99 Contest iene poe poss fs tem (5) ges ei tales eon fhe co ola re Fowii— Tai (isthe regu waster facto, which ermal ne frm fey emi The de ‘mina 79 sense te postions ofthe eae ot The numer Py. ‘ool canthenbe sls ty crea ine em Anctanle pen ios Dx) Baample9s ‘Theos op ner tino st gether wh eons oie ney noms +025) ox = QE Desig il cote seat oe oop sem whine ¢ = O.Sand y= Sa ‘heen te ero ep put Sol be ere Al, he ade avon Inpashldte Asse tit F = 02s ‘Trento stented sytem are gen by fas CONILER ws ett copay 7V/T= + pint VRP Dom. cowmousrs aa) "Dus. te eid ple sin ae 212 0% oI) J 02 3 “Teg contre ha heer ton Poca ee Tots poo O— 7H 0526 0360, ieee Errant tars Fos enor net deerme the percent ie nanertrpproi. Toese eaaly ‘y= Oud mune mu oly ave ey ad berms Egan 8) en besos v9 on Fee) = Rett Te, Fors un tpg. he say sat emar canbe deters tefl ae shoe Booty a) on fre tty ang noe a brn, on )= Some + as e109 1 tenant ome evan pe By = tin FY TE ty yy ee aan sci oye22 OsCRETE CONTROUL CEN Tose fn (810, AT) bye? 10822 + 0405) — ne + te ~ 1.05) Blas P-L + Oath) vg 03535 + 94s sh, +0568: = 0.128, en Frm 89) 911) ween, = 0586 andes = 028 union 910 hes Becomes Tem p= om ©” Foros 0a ‘Equation 9.12) isthe oie ase fant, We cn si in Egan 93) 10 Bad ‘teeter ute a cone Le _ents+0s re 8) GGT Tia ~ Dae +O) T= TE papa BaNSELOS _05H6e~028, ase — 1372 Foge2s 021 1 = DoS oorE = oaTke Fea ba) The sep espns of te tm witht atl sn a Figure 9.10, 9.14 Pole-Placement Contol ~ Graphical Inthe preva secon we st how te epic of ahve oop ste ee be shaped pling ples x oud psa ern Inti abcion re will cago ‘me eampls of pale pace ng th rote es ical pee ‘Wiss is uted ope te poles of asym regard porns te We cn ier may ie an of essen ene spears cmpesit: et apse ed or ie lp) Ghetto em, econ Bol only hee pine achive de esd ‘ine const For a on ower Stem ne can gewly ody the de gn eke ‘ti i ayy Un es i ee a cd nS "seme my ao ees dng fra eles na geen yoy wang te {2 gin Forrecompexeguemens, sch nigh pase pes ‘nie pane we wlleao we yams compen nd epi ae cone benkLcovmourns a gure 910, Sep repose othe ya, othe deg Some cup ple placement shige ia below wi te ot ‘ee gph Example ‘The lock dap oa snp cool ysis sn a Fgee 91, Fi eve of. pin A ch yes camping of = 07, Ini example we ml da th oat sf th system ae vd a en ‘ew sprint nsf cota ping ratio o hoes The vale of tbe "Shue dpi ato an hen be ea os “he roc Tres ofthe sn Sw age 12. Te lcs as ie exp or lig between he apts (1,1) and he agin a ote end line consi dig ao we shows alge 3.13 Av eda hile OE ger Dick dag or EsmeFigure 12- Roos othe atm, gir 9.3- Ratios the ins fn amin ro Sem. coMRoUES mas gies Blok dagan er Banged 5 awn fom he pit we he daring ctor 07. A th rie pot he tae sip O7101 4j02118 The value of Kas pi scald abe R = 00618 ins xi, regi speiicioe was uae by sly modsing he Leen fhe yum. Amore comple cumple getlon when reguced pie Oe ls apse pus ei ple Brampleos ‘The lst nga of iil conto system pena igre 8, rege cesgh 2 cone or sy su atte son lsat pint hs D3 03 Sotto Jnaiscumps we wilds heroes oft sytem an teases gman cmpenaoe ‘Simo te sae of te loa so apse ough te rege ptes nee “hero inss fhe se wit he mpeg 915. The ot ee we wake toe maid wha ad eat ots wil ot ps "hpi singly modiing te di othe em, “Theangif Gs) regu eit 1612) = 103 + j03-02)- 403+ 03-09) 103 ges OF ar" ae Since the sum ofthe ages polo im the Yo us mas Be 2 ip of 18% he ampensior rt ine agi 180 ~ (45) = 5" Te requ angle be ‘ed sig compestr witha waster ton oe) De)= ‘The ange ns he companies £042) = 03 + 103m) 403+ j03~ p) = 8 a Boe ‘hee array combi atx wich wile he gee uel, a ex, chao n 5 den, a225 DISCRETE CONTROULR CESGN we96 Roatnas often wits compeey ‘he eur comle wane to then Peele 05 sao a : = 020, The ot lcs of te compensa sym sown Pure 916 Cle ee nes oso ce eee is 2s, = 0.3203, wl the pot tha he de gain 0188 The pega ofthese with de rpm shows ig ear ates Gagan dt he sym sey te ‘Tae bls of econ nd the sytem ine in Fie 9.18 Baap 96 ‘The dlck aren of assem sas shown ie Fg 19. seed sin acon Farthisyaom wit yten overs PO) lsh 5 and ting tine # 10s Asan wrote here Feee7 Seppe ate n28 scRETE CONTROULR CESN rn é iwee98 Beck apamol he cient he im gue 919 Bh nn rep 9 Sotton “Te damping ai noua gue nd etch ried se panes cane deemed fa ro implemse the FID contr vig spl compar we hate comer (14) fam 4 sominons dort repeetson Thre seta fo dng hs he Simple be rapa pension eh gn tl he ae ieee Bea MDM MTN oy faysnSoratn pain 914 ts tesoes wer at [aan 1 tD=ar— 0 z “Bare — ow ‘Toe PID sen by (2.18) sow in x al fxm wh cs inpleaid om& digt orp Tis frm of he PID coor so kw ste peso PID sue, Nodoe a ea one aton plement tery neo, Tae dc fom ofthe PD corel cara b ae by aig he eracom of et Pag five tng enceD ou Ba [ray] om Espen 1919) gee war =i —1)+ wear) aar r+ Kear) kat, Zeca) ~ 207-7) ear 27) om Tastomefihe PD sealer iskoawn sche vel PID cil Heth cane cnt ‘in ues he previous contol vale aa eerece.Becae oly = change m be cet so ted i fore he ID con roves sas bps col wes erin I ge enor exis te reaps velcy PD colt aye ae, ‘silyl ee neg, [Tet fo fe PD alr, 18 an (2.20), sy ok gue dere a ey ‘en its eh oa, Case orion Comer 18), Sieg elon mpg era we oti ser wer-nass[aar—nen Seating fom (18, eatin the wea Form fe cont, en (220, 9.2.1. Saturation andl integral Wind-Up Jn pal pans te ug van acon an ty Ps oss Fotexample stim vlage net fom devi tinted Sia fe maim fo tt pcp es byte al ape fe mp. Ass et as ppl ae the ere Sa des nt ron a sh egal es ‘ingupcomauoaty. hse ale mera wip (rl aura). an ‘itt ing pds of went cancers inl epn Ange campo a ‘pest falewig Sogn we wah cn ke oe ost and chang exes tng ager Spel The owl wl en yo ae Secon a cue meg ei me Sigmls wen snp tnd ge contol acon wilt spped:o Oe not Buea ot ipl bien otros tc noc ilonte tpn ey ‘heap cowo slg est pon now changes ate ae decom en hee ‘esl ng sd wil et epi oe Seg pen Coney he Sys whe por opus we comes oto conto, ‘The megal win pote ets ool PD cob. ih vehi PID cn cote Seren enon rot wp ‘re house cool ign spy cna ‘Many cigs hve ben developed hae ines wad fa te PI cr wll andsome he ppl ne es fla + Stop img ston whe sane acu Tesi lle cuninl iee ‘in Thea sts ener npat tw nr contr user be npc adopt a of eames. "+ Felis of he inp e teween minima an ian, "+ Rede he irr iby same cons te cnt ups strate. Uy te negra aa is reas yah ences propor fe trac tee he ‘otra an setae (eatin) cotle oa 1 Use te vec form fe PD one 9.22 Derivative Kick Anater psi robin when nies PID colle cated tie itv stn ot ‘econ: Th may apes when stot hanger apy cig eer te ching sldeny Under uch aeons. the ernst cn ie th oul ck, Town a dere tc Tis aly alin pc by aenag ene emzu DscreTe ConmROALER DEBGN {othe eco op The propel a mays ce dn kn ep andi ‘Seommon ome Be garnets th fea 923 PID Tuning pun pnt Tings Pb eon mter lring nstcn ‘SEs, Tad 7. To are many cai fer ing acon ning fo i ‘Senge oosobel by 6 age so. Nish own a he Sng Nn tag Sigs) ie 9¢2 nd 1983, cotati cools In ths ein Heal ke (Ge ning o PID coro tinge Zeger Nols ing grin, ‘helt en Nil sggete aes te PD patter of pot ben opp oc chow op wes te plan Ascorg to Zeger ans Nil, tp ap ner Tncon oF syem can be tora thane ey anager stn = oe he ce em ne a (rampant i cone fhe 923.1 Open-Loop Tuning rope op ig we fst ad he at paar by apg npn oer lip The nes Xf aT wt lm ee espe Zigler md Nit te eget acing te PID seer eng gen inate. when te oop icles. These arcs se tse on eC ian he ie (te role eer afer eying sep tangent ph "Az exampe i vn tow Ure te ede igure 924 Fig plays Tom POCONmOUE 8 ‘ledt_Ope acelin, a » 3m Fo tty ost Prampleo7 ‘To openiop ut sep esgase ofa tema sytem e sows ia Figure 928. Oda te tn coe of stom an ke the Zesler Nutt islets oda) "propo coi (desis a roportna pls neg con. an) © ‘Signs PID canal Daw te ook Gog of he system eo ase ‘Sitio From Figure 925 he syne prance ae ibs K = APC, Tp = Ssank T= 2, os tense fantom fe as. Tm Proportional cnr, Accor oTAME9 |. Zee Nics seg ora an kya gyno, ger 928 Unite eons ote em for ame 972 DscReTE ConmmOLLER CEB a. ra evte 926, Bock dagen fen vi pi oer “Te wate sno contri we a snd he osk gen of cose-op en he cnt nig 926, Preownster Aesuing Table he Tel Ne eings ora Plantae ry 2928 mt To3ar, te Hp P22 0m aot astesa 168 ‘eran tte tien We ean[t + ci] noes D ca a the lk srr of ees op system withthe cole feshows in Feu 927, 1D connate Aecxting Tae 9th Zh Nld tg for FID cone ae ky 21, T= 05Te Te KBB non, Haresa1 T=05xs=25 “Te tafe fcton of te ogres PID comers $8 elie 2 ores] opis Lv: snl gsere]-onfiesgeas] vo) _3P +1240 Ea Tos ram ofthese eter with conv sown i Figee 928. ger. Blo ingame sem wi Preoraer oercess a7 gun 92%, Blk gam fie yen wit ID contr 9.23.2 Closed-Loop Tuning ‘Te Zigler Nils eos ig sgt eed on plas loop, The rocetce sa fons! | Dist ay dee ete stint ols lve ol se poem * any outa ei sep estan obs te te ee + Repeat stats hte orders pn a se sion iste x Figure 829) Ti gin calle te wl, + Reales of sedan se eth "+ Caste te contr pruners acotg ote flowing formule: Ky = 45K, Tem B/12 i becas of te Pleooler and Ky = DOK = PT, = Bikes vote PD cae, 9.3 EXERCISES 1, The ope oop taser econ of plat i sen by om (a) Design dea eu iin como for tener A (©) Daaw ne Hock agra of heen ng th car (©) Potinetine espns ate sem Paee929 Zip Nl led opto