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Notes 2

Introduction to Control Systems

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Mxolisi Ngidi
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12 views10 pages

Notes 2

Introduction to Control Systems

Uploaded by

Mxolisi Ngidi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Hugwite@ STABILITY CRITERION Note: An ain Consider QU) = Ons" 4Gy8 +... SHH FO 2. Evaluate the Determinants » | ) Crake the following falele Bee Oas | On! Gey Are 0 6 Aa = oer Ow Oni Qyag - Inns Gn | Be dn-a Ory OO an | baz | Gav drs © 9 4 | ® Oy fan 8 Ie ce on . be ¥ System is Stable if all ba ddermnants are pesitive. , ow GiGi Gusti aeenseiaon Hugwit2 CRITERION Q.&) = Any! 4Q4-38” || QG) is Stable if ail | acess | Sxemple Arr le) >0 | oad > 4 ante Tose ett as e Jae | 2 8) = vawace mete te QG)= 5524785 oe aerate os ‘ dos |e 8 s|-alze ol-sleo St 8 ea ote fs a 0 Ss 3 ° 0 3 & = BH1BKB - &xsna > 6 QG) = sstsasttyss48 => stable Examo\e = Qs) = s*48s* +145 424 = = dgs*+as*+ Ais! +O, As=|G G © a a of ER™ 6 4 a 24 0 ie 6 3 24 A = lal A>o da = \° 2u{ =8S >0 1k Az = 226 } ‘Stable | 1 Example } | discrete time systems Consider Gis) = Gas*tArs*+a,s +4. 7O | The stability of @ use the Hurwit® CRITERIoN bo iscrete Hime lebermine the Conditions fer the system 18 defined bi he unt Seey Sf as ‘ Pa balls ate) Qo) = es? ta | Qrls) = Oss + GS ; AM clesed leop poles withia the junit circle are! stable 12il <1 —> stable Example Closed (cop ‘M0e)= reSBst2bey Broz ; wr) Weleorer j leo System is stable Example closed (cop » Ce) = Sen SUT Velen Ve > marginal stability Tre Surys Cciteria nas: 1) The naessary conditions 2) Sufficient Conditions — OBTAINED FROM THE Jury's ARRAY Suers AeRAy Consider? QR) = Ane" On, 2) 4. a BQ78 Foam * Row ee i Pe fee fer ‘ ae ao a. 4, & 3 Gnieeae rrae a 2 be b ba boas . Cee eee sacra te s Ce oh Can é ae Gey ates Example @@) = ue -6e* ree sa Qt 4O.r tar4a. Row + \ ze ees a 2 ame + \ eae Grea 2 oe book be by be & Gq au) > 0 GED (a0 for n is even i fer a is edd la. | cay VQ > bry VGL > Cra Ini on Q) = Be +224 422% 420 =e QU)= B = atatiet4 20 Qe) = Bae? 3g Qo) = sO0¥ 42G)F 420) 4141 OEN = BEY 42Gn§ 47C0* FEN Ay = B 22-441 =a >0 cette eerste ane \ . mt 2 3 et ‘ bob, bbs ap a liese es erur check if ike stable | es) ee) Ey eee me] pecs) Gar=- Bt sam } =O-2)$ iran} GQ) = 4 =F Le Bie} aa) 2 = B¥epeorse Ge) C1 e038) 14GCe) =0 (2-0) (0.302) $0.68 2 Fowee re =? 2r-2-0.632 =6 Us = OS roasy Ar = 05-068) yede tals will apply this cme pop ee oy A oa 7 ste Fmt if we dake ia the first case Aleem) = yw ee Si = Ge at 0). CDH Hoe ajw ae Example i Ra st gE = Cee) Casts? + absak J +k) Cet Gab) sttabsek VO) = stilts sabs tee = S2iCaibst tabs (S35 Cartsttabsak)= So5 ok -F pCa reabe Ts tate tas RT = Bt stash) st tale = Gira yst saber ® ke 2tlab lat sobs SPe(qibstaabs SFE Carly taba Sh pts = yw 82 Cw Now, Tis) = Se = ihe CARG) AH RE)! ne AE & Rsloe Res)? ore R @ CanBeay® A CRG RG? CRG) A ls BOS G ey ecs ge ~ AURME) (asace) now lek Note ery enero @ bronsfer — fancion ae © at more than Ont eis able, hence a ae Fo (Kids) jee for Ty (Ky Ka) gh 22h le su tae A Overall sensitivity Si = Be w+ Example te 3 Bekermine the overall eens) Firs ky due to R ond € Recall: +3] Se far 1) Simplification of system model G) Block Diagram Algebra Gi) <. nal flew Gaps a of! the son gain formulg 2 Stabilit analysis of dynam ical systems G) Roath Harwite Analysis Gi) Hucwife - array ii inches (ii) Continued Fraction GA Turns Ceiterten Ly) use of che we-trans form with the Routh Array BY System Sensi tivity 4) Tadices of performance of dynamic systems in the G) indices of performance Hine domata Tmt REponse — Gi) Indices © erfer mance the ene eee aFeequtley Res pense ~ ERROR = ReLative STABILITY = READINESS FOR CONTROLLER DESIGN Eodices_e. ance inthe ag eh maa oma * Time response recollection Given: UB = Ge) Then? Yes) = GG). ués), us) #6 gi) = Lo (reh = Geo). ucsrt = The ime rtepense yct) hes too components CE) =O. CO) + teat Tramiat Rrateadly state Gee + bransiont response, valid fer tee 00 yeep base spe) ~ Stundy state respense as ae ort 64 qe what remains OS loc transient, look t@ sub 2 it should make ex press fo tere Examele git) #4 ee et atch + Sinwet +e siast yee > seth 4 eth sins Use = 24 Sinwet Recollection Commen input tye Ceo fone uc) uc) 8) — 1 impstoc 2) ult) — + Sree 2) Ramp — S 4) re) 5) Acceleration is porabolic © Exponun tl ee ao he we 7) Sisuseidal <——> EGE Recolections = Gb, Order ef GOs) ~ Highest order of ¢ in the Denominarer of Gis) GG) = gE 5 Order = 1” Gls) = SEHR order a Gs) = sGeirasaa ; order = Recollections Roles and 2eres of a transfer function Consider: Gisy=- 2& set N&)=6 € Solve the values of S obtained from N6s)=6 are called 2erees of GG)

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