(sa) 3 (s2)

he Kalled
5 Rous aMKOY
Routh his RouTH
ARRAY
element must Wshee leruide
the chaxacteia
cHituionstc
"Rautt
ahROY
fornulas ie the
b
the
based fel aun
Hemuning b3 eQuaHian
om

uto
kolynomial
HOs +an= 0
PAGEJ DAIE

aHe
aay

elenenteaul haue ALOKding

the
calemn heuakoe
change meanshis necesa
aotthtea the theouensaue
a JHEORSMSoR Aouing
ealS-
baut Senme the
equal fre negatiue
then culained. bË
to
thete
Routhfokuiient
r,tarditian
to and
to the and
chaugu
sign Routh
the aKaY
the the
-
ye ueal
celmn Rourn the
element chavactustic
equafion to
sute ident
no- fouth
-ye
e theue Cstable SrAsiury
Heet
ighkte
ha bemes
tablens
to
cemn cenditen a asnay,
detsmine
stabiliy
the t stable PAGE DATE
e) b
calna
fitnhcte tue syutm)
a TeSTTes
negatie, mt
the syemo the
yaUO
exst Routh i all. fallouing
that
 DATE
PAGEUMAA
DATE IO
PAGE MAA
the imagenaky
aud all thu
equidiutant
fom the lane, u n
in the let hall Lilanih aud bËa3X5 - LX4
he 3
elennent element of the peccding 3
none of the
will anish. e column al the elenente

ha Iocaim a the hain magnay xost can ositie heue Aign change
the equaHon th fst celumn theHe
hauing positiue Heal
Hene stable
Cs'+ =0
ae the elemen
the coecientsCaud
hune
the
in the Aduantage
We cah find the akability the aystem ithou
claetistie equtiom.
Lenpletely seluing the

Cherk the stability a the syztern weheLe ue tan dtemine th

We Can easily ditmiue the Helative stability

ef the
Slutim Asplying Routh. itesia aud foxming
Routth aay we get 4 he time to calculat detsmiu autt i Laued
the Routh eite'Çn
Roo
S3
1 2
Diaduautagui
S2
Li/3a his cetuien i appli cable lyot a
inea system
 DATE

PAGE MANMA

DATETO
DATE

PAGEAA
Buouide the exaet lecatim
Roor lous
t
oARAM
ctekisti equaton Rsle1
h cae of the chaua oiiuta he n0 o oci 64 buRnches eQual to the
valid anly fer edl
4 t
4 t detuminu the stahilits tut dos nat Rule al he
at chen- Jeep fale aud
the nithod toabilige au witable Aminah at shen- Inoh he teHMLnatin
Cn-m) a thelai uill seut t the2ss
at ingintay aleng auyabtotea
he Ral auA
ta patt the Hsat lous uehen
to the
xight boint On the Heal ari

nesay to censidus mly the Heal pole.

and the complex
bales and qeos luays necutive paus
Rul 4: Aaymptote
hiHe aAe Cn-m) loe that ashuaach Cas K

tuanslu undian he centie s gauity

 PAGE
DATEJU
PAGE wa

R[S PoNSE 0f efeReNI CONTROLLERS

n-m
P- contHle
dekaxtuxe
Rula 5
insmake augla
hue asnhtate
witethe ual axin
n-m n-m-1)
ueheue No, Gjw) ke
Ruluai Bueakauay oint
dod, emegia
he paint at wshich tuo Ktst
Leaue the Heal axiA iA detenined
and then
the luim the equatm
Yhase ditence tan RP

S-Z
jal
PI- Cemtolln

alja) = ke
 PAGE

DATE OO
1tL PAGEDMAA
PL9- Contuo lee

he tuanitur funtion of PIA -entAslen

qiueu by
G1cs) =
12
AR=ke RP+ IP2
bubatitute S w
Ctzw)
= tan-!

3- P - CentualHs

PA- cemtualer.
he
trana7a uctien
qiue by

Substitut AR:

= ten-I
AR = ko Rp+ Ip
RP

AR = Bal+ (eae)
 DATE
PAGE wny
DATE I
kacLL Technique PAGEA
CAduantages o Raet uhr the Himete it þaiut houi ded
Centler by masts
to othex metho da
implemnt emhaxed Sn coscade cento,ue ate
HootLocue wle cau measuned vaiable at tuocarntotling te iugle
boint conto
the wshode bo ue haue
fuecdict tha þeutaxnane
to indicat dis twrbance aud ut þoiut chang
3 Root decu kuaidu te bettex uay
sleus
dynamia Csuch aa tnpexatute empo sitim,
tuimidity dul)and
CASCHAE CoNTROLLER ha to he manihulatd to Cento the MA

4 n cascade centl a
that Both ate
(hntHotlees actin A klock diaguam cascade contuotlr
fe each othet

(ascace Cente ç technigue ushitla entan tuo o duule the closed- Jech transht untim. fot
dlas ed Lee entes cascaded to eaeh other
cascad
BLock.
centet Ayaemm
dinguan
Lonaide the

way that irat Loop contnles

called Hemate st oint b

Send centeleh

3 n ascade tentot fit leth callad mastu aud

Setond ledh calud laue comteler

laue ceutsll ental the

 DATET
PACE MAMA
PACEAMA

Ayali cationa
b3
K he casade entHlu uHd iw yanious puocesu
hat echangus, diitilatim column
jacket
(ascaoe Centol_u

(asade Centeal 3 bailee

cascad
side jaint changes torne a them
dunleul cat
team tmjatuse cento
Aduantages i
Redue the dead time aud bhase lg tme
change the t-boint ano thix the
Lentuole.

(an Be Cemmbined wwth ed fonsAAd ud othut

entAell ii taken to be type a Certuolers
theautut om
at the -outiut aiable
3
mpxaued
«0 ued dyham| Auþonse aud kustomana
and BuDuide limit seonday vaniade
iAoatien load dis tusbancu
 3
ecost the hich equipment and
melead Hequned tmt Cacada
mee Atumystn
the make t&nts cad Cas
PAGE
DATE