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Unit:3 Control Systems

The document discusses the Routh-Hurwitz stability criterion, which is used to determine the stability of linear systems by analyzing the characteristic equation's coefficients. It outlines necessary conditions for stability, including the requirement for all coefficients to be positive and the implications of sign changes in the first column of the Routh array. The document also addresses potential scenarios leading to instability and provides examples of calculations related to the stability analysis.

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Aslam Shaik
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24 views45 pages

Unit:3 Control Systems

The document discusses the Routh-Hurwitz stability criterion, which is used to determine the stability of linear systems by analyzing the characteristic equation's coefficients. It outlines necessary conditions for stability, including the requirement for all coefficients to be positive and the implications of sign changes in the first column of the Routh array. The document also addresses potential scenarios leading to instability and provides examples of calculations related to the stability analysis.

Uploaded by

Aslam Shaik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
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| Routh-Runwits_catterfons- supmyeossegen (I) Routh Konestby catterion seprererks wmekbod Sr “dekewitoing x decation Or poles 7 a polynemtl asfth Corstant ead coc¥ficierks with vespek to te dott hab ond aap bath Gr e-plane-; wttbouk aukudlhy Sowing fon poles: = donsider the chonackenistic eqaakisn & o Qineoor— time invastiank syste Bs of Uns foam PCOV= ages aie agen --- Fan BTO0=0 9 bes. Bost equoktsn © | 4am ovdes tho thave be no ook “oaftty positive veal parts, fe 8s necestasry ub ok oxekticiet Le AM to cocfffeienks OF Hae geyrorniel rove Khe carne SM" a: None Or be CoePfeienk vanishes Jer necenany & sufsicat eaition wk ofl VF owas | 6 above enpakeion Bes to ve SoFt halter the e-fene (fo tha the <9) geterminents rank ofll be positive Lethe. vooks Gr the palynemnicle coe all. fo Pe dase boll 6 the s-plane of ol. the elomenks Gr the Ringle columo Se tho Reukh tabubakion axe Os Samm FG" eT thare axe changed Or ergs Fa the elements OF the firsts column, AA. NUMbesr Gr kyo ch the number OV reots with positive veal. moos anges Fndteake> the Following AEFrlkicd may occur occoxsisnally vushen Conrytng ouk the Routh best: ) The fick element to any one emus Qy the Ro: buk be otto elornenks axa not - f one TOW Be HE Routh Kcolbullokto coe aif tobulebio fs Zeno) Oe cloments & FW gest: =) Transfer Fanchien = ()__~ (wren Cera) “7 Cy Trecsntes) ~ Ca#8,) CstPa) ~~ - Denomtnakoy seats —Ppeles: Denomtnaker equakign — Chonacker istic eqs0kiM: L+Qcantics) =o —> chonackeristi eqiob 6p - % Rooks Gr chanackenistte equabion = poles Gy the system Necessary Ceadibions : ‘) No ag changes DNo mfasing coefftcienks- ma)=U u& je 2 at Ze | | od) ae: ret se: user | —. | eystern {5 unstable - Impulse sespome % | focal focreosing ae ee eee ae LF all tee waits oP chosackeaisttc equakton bos negaktve | ‘seal pasts than the system fs stable Systern ARE ong mmol a the chonackeastte equakfen thas Portcive "eal | | pasts fy BE there ft a repeated ots on bhe fmaginary Ee then the system fs uneable- si8 Firat canditfon fo sektstted except for the [one WH Mme Tepeoked TeokS on the Renaghnaay ads than the, Meter f> Mintkedty on marginally stable According te coefiietent ce chonackertekte equakfen (TS a the coefficients one positive and HF no: confft Zefenk: | Ito geo -than Ol te nooks as en LHS than the aypeem prenence «| acd any Coeffickenk ‘Ay’ ( equal ko Beso than Some Gs the | roots HO be an the. fag too, ows ©) RES than the System | fe unstable lb. 2F ony coeffictent ‘ay te neg@kive thon abSeask one rook fs ws! | on RS Han the system fo unstable. | Rouths Hunsita Caftesial wu citer) = Ascume the Chonackertst?e Rqualcfon ace +aigr 4 aad 4 - --- + An=0 | Routh onay SF Oo ag Oy lee egy MGyene oo Cope te | eT Gone 05. | fe C eS be | s The Volues ‘be! Values one calesloked as oy bye] a On = SyCacy-Aa 090: a a, = Sy(Aay-Aidz) _— gages | ero et ay Ou ba = co[ te 4) Or As] _ Cv[Ocdy-OAy) _— MAY Bohs Or a Ci | by = (% @ i 3 = EV COWMg-HIAC) _ Oudg-Mey | Or agl = el cise | ance a ay | v ce, ec (@ bg by bo | = Ce [dubsBebs) — aaby-arba | ze ae as by by by TJrouth's wnuitta Cotten, stabtlhy can be staked op fellowes ? | Stakemenk t he necenary and sufficient condition fon stoloiltty Ze thok all the edementS to the first cabamn of Ke south Jowasy be positive: OF this condteten fo nok re the, ystor |e unstable and number*stgn Chonges tm the elements tr ands ke the Ne [Brak column tr tha routh any Corer’ spac 68 chonockestebtc eqerakfon fo be BS Nimttab tons de Wy Catteni ARE cutters te applicable to Orly Sthear & Etme ses Syptem: ke Ru cateert ts valid for having aed) cocf ficient | gy cotter. dace vortentick Locakfen of closed Wot poles | hanackentette. equekrfon eshte &S | Yhe system Ix RU cattenfa does not provide any method ke stabilige an | | unstable syetem laa - | Using gH Caftenia debewnfioc the stability & te syste? | ‘epresected by chawackentsttc equalfon seaeredyce*So| Aonsteg an the Gecakfon & thy Tooks Gh chanacketstic equal oof sen qhonackertstte equation ts Saget i@es 168 +5 =9- CE tS aga rag @eags a --- nas) AQ po O° Mere Qe 1,0. = 8: Ao = 18 a,c1¢ ayes GH \ 3 5 s & \e a e -18l8) = 16-14 Ig S Ss e109 | 25 | . aCe) 216 6 1 laaciey-sty g | iG | = asb-t0, 216 iva 16 2168 we aa olf s 1:68x5_5 OR * On examining the elemerks Oe fase cum Ge aguth Gary Jt te vbsewed thok afl the elements axe gostbive & there fs no Sign change. tence all Ta founders Suyiog on LUD & System fa gkoble. !he oyster ft stable Q AU He fous tots ane lyfog on LUS to Sy ydesrle so- fe ans aud 4agd” S =~ +Ona8'4 Ons?=0 + Jt aU 16 athn change le “ worst’) Lug 0 4 = u & WCB). | rg * On examfotng the edements & Fivst camo OF south ortoy te chsewe ttak noble atgo chenges ose. 2) thal [fo postetve to negative & mgablee be posible Vee Ses lena sveckS one on RES & one Took OY LYS: The system S un skoble- |Resulk |The systeen fs unstable: Las: Ae on RES & Bre coma Q Weoo wots Bl T= vos +5) SAEHHUSAS. oe [st ‘| ¢ ¢ No sign changes =o la! No.6 sigfte hard poles =o Sop =0 s weft band poled = 3 +. Sypter fe etable- 5 OD Prrssteadsucs ss +t0=0- ® sti sdassiauseh =o QF Fs Bards ays +10 F8 @) chy By sstaaers aS Us-BeO Spectal Comedi= 7 . | Desffenly $+ When the task Fem ase f ea hile sede GF the WS ba ok Ro fo Gna BOW GF bea Routh Leask one non-geate bese: — Because Ae wks Bean Levi, Vs ews fo the pes WOW Irecames tntfatbe & Routihe test tnicakdeon Te following cubed ‘can be used ko overcome tes Attfouky: | cockrsl System | © derewmtne the ckability OF & chased-leep apheae chanackentakic. equsbin £5 Fpl agsreasnstioe Oe a A A Fy As Sol Te Routh amy fe Ay a Oy s t ae a Ol hea ‘6 ie \ wel al ° ae fp Sg \ | | afte Seamtng Whe Routh awry, Tekove te baat ° ees edamenk fo tha fisst column 8 See ° \ | &Rewwkh phas the Reath Catenion Fats ak bts stog y | The difeturtky fe Sowed by ff gaso fo the tied row OF We fas column f seplaced by a symbol '€ -& Be so 1 Q At 3y \ 2 to Se e 1-90 cal a] a 3 te (MN 5 | (4 % ° Cg | = 2) pou veel), | ap wy °° | a este 10 athe Lintts Or the fanth § teh clement lem the fast columa as go Arm lpostefve Side ano —ao G4 vespectivel ify Ww Bet Restet y = (i Ale ed Todicobing two sign changed itheredore ook | System fs ymtable- & the number O seats with positive |weal. ganks Or the characteristic equation # 2. f © . & Beak =O Oe He choroukeristic equokion fs Seth QVrYSH SOAS |e Ce doshas rags Saas haus s ~~ | w-5- | Boxd Oe hy Aa =2y Age, Ay HB Age > © | i 1 eee ee | st 1 s 5 e ae al | Rue cnikenio tals, ey 6 gexo to | weplace ath '€! jS oe -2 | aged og | € 8) -(5Eser) | Ree D | |S 5 |puk_€=0 s el 44,38 8 ei 0 -2 ESE: ;or 4, 5 | et | Sign dang? onl ago | are one twco Syn changes - oan Feast OPN = eae | a (é 3\ ge A 8 eee) Le | Qer ge+a) ae | Oo enaming the fast calumo edemank outh envoy | Wence ktoo wks mous Sa] Fen RRS G System is cacutable- | | | | Result Othe system ts carstoble- | Doo ots on RAS | Uhnce ~wbs On LES: | | pete 2 + When all He elements to any one wee OF te (O Roukd Ast ara BeKO- + ThE condition fndicadkes Mare Oe ayrmetnicaly Aacaked | to Wo cory | scone by | ae vg | pee to the erplane. Because OF a yes TOW ite Roath's teaks breabdwo- The sftuckicn fe ove gerod fn the Routh ory by eps the woo gnoracel gerard DY bol lec wefftcierts & te PP | erst derivative Oy tke oanitloryy payromtal * iH a Dekerntne Hs skabity Go aon roastog, SeethG abt ety 80° |choraderistic equokien gh 4 5S 4 QSLUS™ | BS) cess Pe ale St BLUSH © 21 age S103 23Gu=2 age A678 =, Doel Or & ee eS tied 3 -y 0 | ot - = aaa. a Bunt leouy i a a equakton | dk f6 vbsewed Thal alf the elements ie tee founth vow vanish & He Jappticatisn Or RM fatls” This situakion Ce = “|: 3) abl. bbe eccuTS tohin the a1IWs} as, woo ca comecukive jews having ths Same Qs a ah 2 P20 x saklo & corresponding elamenks WE Alfred, Faced FS overcome by boming an aunflau equation using elomerts Or the Qos buk one Nosfsking Neo: Te darivdkive Gr vets ouatlerey equsokien fe taken WA Bad Le cHe*Fcienks Gr tae ditferverti equation ose taken an the elements or Se AdJowsingy WO) The asritlouy equaktsn acs) = astacs? 8 2g » | AO) ~ ggrad? <0 | te coeSiteienke Or tru “ounth we ara thus BD EO- the RY equation fs so eel js? 1 3 —y oO ee a) ie} ae) | oe QO | 2 | © 2 8 9 8 o of oO oO es a + eB ob 2A See ee ome. | e, =o | jo Ge thane fs one stan change fo we Rast colar the, | | | Sytem bas one voot wee in RAE hal se spare © | | opskem fo unitoble | Auatloow equate =) 28% go%4S=0 @ 2. Bret GRAB EO e-Ven-4 gua Si tesa0 Borrs On WS «fous soaks ca on fmagtrory ants G Bulk: D aptemn to Waited & rongmsly ae ors © foun awoks 0 on fmaginary anf @ Ewe 8h en Lis 5. 98°- go" u105?- SL qg-to =O Ce = astaosittos? Sqs-to=% 5 S 4 10" gir O 4 Is \3 al e Bon a bo= | -go-t) _ -92900_ 101 ie -20 *Q0 20 8 ae -Bs © me - An (3 lo Saga} - a 2434 10 eae Aaa ais ot: -68 0 sy an -! by wie. pee Se ass > aetem fs gratable Sale a * Zaks on RMS § a ese?) rac Say Aawoks on URS. eget 7° Ae Because the “8 Sign ates 0 | de ie “ss Lae ie QE WO Changed fh the syseem a i 739.34 = lO @) he chasackevistic equokfen 9& 9974+ SSTH19S% Qos" esrlb20 SB) ces hades: waede aos? S416 =0- NEG, Qoet Ace2/ ADB! Og =1R, AY=201 ty Ke Beeb | -|1 3). So eee go 6 ls mi 5 2 s§ Q \Q \¢ © be => ip vl. Wg at aR NG OR untleny cn i) 8 9 : aioli. ites a eae a ae | e 9 _ ochiggs ole Auntlary eq? = ISHISHS coz \s Pale AD. 9d 2 = Ooh Ouse =-|2 \e ds ye a el =O a | eye ay up }s 6 w © as 5 dene ie g BONE %. oO ° 2 | =| ay 4 es £00 examing tty element @ Kast leo | EERE NSE | Calan 60 seuttamayy te fs observed va ee | thee ald te efomenks ans positive zo[s to Here fe no change. the tow with wr - AM He gets tndfcakes, oll tha poostble “sols on fmagtnang Jonte- lence tha system fe dfntted oF mangoally stable » . @) vekerntne Hee mange O&K for skobfltty for Untt-feedbads W “s system chose operleog tsorntes Lunckfsn to given by | cs) = % gcse) C+) Gtien |csy = B— LHe gceaiy(st9) tes) = ES) \eecs ACS) CE = t+ QcsHCs) = 9 te <0 Sister D) Siashasth =o S51 Q Beg & ag tell 15 z Kr Shs 4 af v0 &<6. Range o's! Fox ebobflthy o<¥<6- <. Gor the systesn EC be. atable are any Sfgo change fo He elamenks & the First: column Hence , choose the volute ash! uch thak ths. volsre, should nob be dsW f positive x the system fo stable % Rare Or “8! for erarility is 0< b<6 CB Te openloop tromfer funckten & a unity feedback vee gytem fe given by Gs Afnd the (era)Gstuy co6s +95) [Arequeney as esctlakion - Of TE = 1eQcsracs? =0 5 love =0 j@rmcsan(e%es +25) | (a12)Catu) Coggea5)+6 =O° ate tases Ga o%+1998 +Qoot) =e | | ce Fst a PH AsS# AQS+ Ay =O y 8 1 63 Qo0+6) Se 12 198 ° | 92 5asd — (Qoor4) =} ea box ig yaa zhas-229) ah agate, ies hes AS = SUS: ° byes Geotk) | S (200+) \ © {apoxt) iw Sapoxs) ray Va neo: = oot Ras eee P Qootk) coe" 198 %ro ASS ses es as 5a Faqs -\Qkh>O Faag-ok = eyyQHO TONE 1ak e4ane ot ue KEECOVT = (Qe046) = Fags sas 04K 4666.2 5- & sd Bak practice value Or & stants Pagin gestO- Kod TE BAGEEIS fo ol aoed vecaming BESO" + Ganlosny equok ten aE = 99-58% Ca0ot) =0° 52:59" + GQO-+EE-2S) O° Re 105 S =#\uos. frequency Gr HAbLaklerd us = 4.09 rod see. | The name G's! 9 atalility ts o 0. 16.9458 70 BH 168 beet? <4 previouny, 624 da gerrasteus Ho =O CE % Gogd sda Dg PG ar arsrdo®O ¢ NeS 6 eo 2 si \ a 10 creo © 0 ‘ 5 S497 + 5814384 ast_ys-& <0 ‘eg neG 6, 5, 4 1 99% ASHAySLagSP Hay s+ AsS+ Oc =o ne To) lee = CS). 4 ef) Auretlony Equation CA-€) = Ge-\y4 Bo pists al arG 0, =eexlas: oe s system ba» four spits on Imaginary ants 4 two seats om LES * Syptem TS mongindly sable: = § otal eon ce = setradiatarivg 8] 12! peyceneee a) og a 8 Re AEs = UghUS Ol] ce =shsh PudseS4t <0 ef «too tan seats as @| ce= Sasseyt=0 eee jae Renee! © : en OA s oo 0 — Row & geste “GE =™ ae rageaslelas-g our, ©! ante sigo changes Osprrv = 5 = RAP =O af cae peste ® {+ 1.0 ee 3 | owovo Shas | owt 4 ae Pik 2 ods a \~-ke ) =% 0 9 SWNUNaNGeD=? s& |e 1 ee ae=ss! Slace Wher # Ro oma “BEN oop =o ei Is A Sign chorqes=L tt eM Fay Dy ce = Hraoshigst Wh =o. Find stobslity § oo, 23} ce o =) HAO \GkKro =)k>0: Range & % for stabflity oxk<% Moximum value Ov 4K for stability S§man™ 20 NV) For the ‘yseen to oscillake cotth Wa, muse be soangi nally stable Ke cb vou 20 eo wouo= AC AE wots = £fu3p- olle) -W6h =o =) K=O Burtlasy equakio = ance 6 C20) say Woz y rad lsec. Notes gyutheneves Kha aetem fe oongioally stable then only We B nokural Frequencies occur to We system ©} Srahest eh 5-2 gr| 0-2 0 © — pezatace ee st}@® 0 00 dae gs. “*“ & @ -% 8 - ates BS 6 6 eee eno 8 S eGo 0 6 — tows Rock Locus Introduction ¢ Tk fo to quaghieal vepreseatakivn Gh te. sects Gs the Chanachentstic equakPen, tan te Nosfable, ponainekeot & Noxied face 0 bo © 1G Rook Goews (RL) CK 6 bo 00) Deanglemerkarey Redl Loans CH~> 0 bo-) (2) complete RL CK -m bo 0) © Rook contour Ctubkfple Ravasn Concept G@ Root: Joos t- 3 fo not pocstble to pal the retk Gos fF thon bS no vosifable pavamekev &n chaaacker tae Fe equation - clowntfication dr ctoble systems | Unda ped Sysemus Coroots 00 Foaginony ants i€ reoh pox = 6) Boose ype (‘Tnagihacy but reall post fs vagokive) S)eattfealy damped Crocts are veal esol) © overdosed syptern (roots os aco & different) Pe Te oot fears fe aleoays agemerfco8 estth, reapede to bhe seo ants: eben Nontakten) w Rook toes Dfagnans > ine the stability ABis aot lacus metied fy used ko determi OF be |ystem + Uf the degree & He pelynomtal to dex thon 3 tht gu Criteria Te nak posstble to detewmine the stabtltey Gr the system: aInguth cones woe Pow going for wok Jocss dfaqrans to dekewmfre the ekobtlity Gr te autem * his wot Locus method fs graphical yepreserkakion Or plathing he rats Ge chonadkertk& equdbisn 00 splone: Rules to Conii-suck Regt focus Dfagrane Rule Or To Locate poles and BexoS, +The ples con be detemined and shold be moved on X"- X The gease can be dekermmed bY the numerator polyrost Comal, dade) f- the denominaker payoomil and sould bE soaatied OD ‘O" [Rule @= Tp Find Las oak lors constder a test pots tebueen He soot is «given Langer durnkicn 09 he sofyhte Yond ode Gr poles € aexes & taannger Funcklon - «Uf Re Humber G pole & 2exHs ore odd ten Pt forms tha root Joos ¥ TE the number G poles & AEHWOS au Even than Pe does aak- fous the rooclocws.. |Kule @* To #nd the centaotd Centwtd FS denoteg bY 'T' hese qm = Sum & poles ~ Sum BF es108 oe No-e poles ~ Wo-6r gets HEB) ALTE NG) N= nor poles, m= NOG BSX0S- Rule @: To Ffod to ange & aayroptotes Angle S& osyrn peateng= (Qt NCIC) om eohre Qs 0 69,3----m) n= node poles, m= 0-6 BeOS. Bile © ¢ TH find break poink (Breakasooy potnk & loxeak fn potrk) Break away potok + Wo pote enfse bekween tee poles dhen tk fs called break oscay potnt: Breoh to potas + OF a pote exist between the two Besos shan tt &5 callad os tneabin pote <1 Find tha break pote consider tra g& chararkests| Q equate FE ko geso Rule @* H Find bho ange Or deposcure and ange Ge annival Angle de depastures 9¢ Here entfst any comer poles Hon tRe ayskem Fo called Angle a dspascbuae d= \e5—( Suey Or angfe Gs vectors bo a Cornglace pale Bram obhun pols) +C 240 SF angle & veckots bo a cornpfien pole rem ether estos) fe eqsabion Angle 6c aaatval = f iq! Te there exfob Any Complar gests to bal” system called os ange. & aasf Gq =180'-( sum Ge angle G vectors Fo cee Gr ange & vyeckors Leow setaa Beas’) + Coon potes)- bo a complen geato fren other Re . RUC]? Ty gtod the tnberoecktan patie on Eagivand aHiS puk sz fos th chonackerist?C equation then equate the veal & fmaginary poskS separately to Beso Rule@* Tp Find tho ayprew gato CA): = Paodusdt & Hu dangthe Gr all poles ik a eer eee ane Co ®|ees \qceone Produk & ths dangti» fr aff gees: : Nokerefox one onympbete ) Genkretd mat fred - x Rook Loars skeats ok eae oop Rens fends o& openveop S850 qa) = & cota) S410 Here Mods piles (N=! Keo & Nog ganostsl=t wu = nem aie =O No-G, aagmiplorers am=0 80°F RE does nik Vepite- Gerucs) = Cst3) gest) @csucs) = CSS) or ‘a ay = Quy KO yoo mod plo {nr~2 eee ities a read aeays (0 =| - a8 3 Sa = nod angergtok> (O-m)= Q-1=t 30 Wet Te Hak YEQuived: @| sketch the work Moots or the syste cchen bee open loop troansfes, fundkton fs f Gifu Nae gaint .S0 thak the comping wokio 8 clined oop SS 18 05 88) even tranfer funcion QU Sa scsycstt) =O pales = oad Noss poled Cod => NoGs yess Gv) =O guichlonk Searels obo 81 Comider a tat gotek bo te aight ond side & he band sige Gs fhe vot garde noir Poles poles ¢ estos: the Sef eke bebwncen 0 LOR rurefore “woot Soars gofe vee nods POSE exe between &aenns oot codd) - Toho Lele PO" Raves fs A(eved) Aon ere took Jours de> cok alo =yto Pt the Qe hand side & te peek gotek te node poleng peso te 2 (088) therefore tre week Locus enisks bekween HQWIENIBO _ gc". 2 Get = Hamrisd - sient S 42D MACH hm — coo ta “Ce Bes 5 + Ge isd = a6" on _ Break pork; 5 Btn ae cnet Sore ‘ equa ees" , wes! Ve He G) =o eerta) (sta) HERDS *B Ly, DPruPerseas O84 (Bacak 1-83) ee) P+ Ess +6 =O Pot & = ~(Pe dass) a = -Cacuage 8) <7 8=-084y us 1 ape 7% Cenec ascorg POY ice 63 [doesn Jie on tee tes {ous S =-o# ca ik Po teal § fostttve exist VZeBC ova) 24 6C-0-80)+BCO-RY) = BOF Cave) 2 -feosen acted Sateoaea- <9. sconce) aeaee, S= -B15 - 3:04 Ce = Cans) 4g (aus) 48(-35) = ECS) We axe not hoving ony comm gler poles & any Compler 2205 80 we dont need to Sind ange OF deporkune @ angle grasa: Pofnk OF fekerseckion , ae ee Le Ges UD) =0- ub =0- S(et9) (su) Cer Seeassth =0- pub ssfw Chey? 6Cfer2s SCfa+ 6 =0- ~for-Guesgjo th =o Few'se) Gash 0 ze = Gor th =0-<) We CUP) = 6(B) HUE: hae Lmagtnany: —— 49% geoff <0- us-8 =0 WA tial ee Gy = degn = IOS =A SUES Ay = Bewn = BKOS HWS Units v K-63, QA wey feedback Code! exten an cen ek cechneh Syste aces Bo + sketch th vont Soots sCHastt3) ee S) now poles Cov = 3 Wo-Ge gewoon) =O se pdes S=O. -AEJ3- ™ Si a ng & anymptster: eQqan tes nem) @-w)=3 i = Ol 2B 40, = £ CHANISE _ (aopt) 186° y (Gag) cc £ OO" Vets = ECRQHY IT (9c HITEC gee nem = G= 2 Seas) WwW = tcoton S66) Mes _ea stent hat aT as con-Z60 Breal pot : ne 2 $= ats) ea gS) x SRrastis}th 20° oe Druck a Ber Suse) EUS HRBTH HO 4 = -(Susas) = Pah ce = -(38¢g48) - Qshgsela) =0 By = —kReESAL Kecve Soa bith the wes & the here tense 1 can break pote Agnidis problem comglr poles entde we have, © caleastake ong Gs depaxture - bg =L180- arn Be angle. Gr veces to & Cormpher paer 20m anothest pores) + Coum Ob ong’ Leckare bo a core poles rom othex 2208) = 1a - (Orta) = 190 (a6 440") . ~36". Potak Ge feberseckfon « Drusrasr6 =O" B=FO) CRopUhy Pyaqa)*6 =o = fs yuranjor =o Real 4 go, 2 amy -wrido 4 =O 29 Yu 8 Raseo dork 260 Td SEC UB ts Coursing pink of tengrany ots 8 A unity Feedback codbicl System hase open Joop transfert fuvckion “fo qiven by Gis) = BCSRESAAS) @ SEND 0-85 PALES (gy =3 NOG yexos (5) =2 Poles = O,-M-9: Banos. = ~atuy 2 EO-1t Consider a teat puta om Hie aight hand © and 40109 “Tre det ond Side G Be bok poirke 0-6 polese acces css ents bekmeen © tomd- Tov (odd): Hered wot So “LEO “Rt The deft hand side Br the tet potnb node goles & 20905 not ewisk pebweed “V bod: q ghegtas =0 &=-3tuy: de & ea poles te ‘2 (ever. erefore roct Sours dock Atom s We dest band Side O te baal poinde node goles & a0 To ‘9 Codd) - Tesefore tha Yok Locus else bekween -VbO% Cenkaotd &- sum Ge piles ~ Sum Bh _yenws No gole>- No-&r geetoS = one Cf 2) Qo = “Bites. oz Bogle Gr arympteted i o-m=3-D=l. ,q=0 Geo, Cage) 188 _ rec Tam” Re =HR0° Get C24) ge? yi . . - i iy ‘ Break poirk 1agcQuce) =0- eae ws” EBC SHES 495) _ G3 =Ue? BwuytsrD) a om ry 3 Lr hsa Gor! 3). 9 fo ete) (Saget HerGrapan(Bass29) (49 C548) oe aeid-asrees cokes =O P+ adi weriags sok +256 = Pr aSavPeansy (Acs+as) = y= Sadias B+ 65495 2, 2, % 5 Sues (QOres 4) Syadeas/ Oso) | 8 Qusnsy™ S=0UQ, -)55° eal Brcah pote S=oug Ketve Se-5g He-Ne x Inthis problem compen ook eniks So. We hove ke calaubate the angle 6s coaitudl. a =(ia8- Sum & ongl. ar ve es Gr anche. & vector & Bren ker pores) = 190 - C40) + URSAUE ARE) © UBT = B6OAAS chong ko another qestes)+ 9 a comglau Seow = 45° yee BO = SERcSaussae) & eS no Oe poles (7 = 4 nok yends (os) = 0 pelea = o,-u 1 “REN ie Gs the teat: poink - 10-66 polerg OkO-UE he Get hand BF Jf). therefine “soak ocns engete Teebwee> geaos £6 ‘t (od oko a & Centred w= o-u-eYf-2-W el 4 Wi=-k Angle G argmpeobes- = QGHNET | geo tad oom azo © 2 BEN _Cawt NREL syst = at a 2 Oa Cagel) wo QOH) EEL 2008). usta = 4138" A-m uw 922 3 @> RPE _(AOEN EE _ we eys = BH = us° nm =n28" 9=35 O5 QUEM _ QcHHhtes _ Flys) =285 em ee Brcownpotrk + (+Q(s)HS) = O° 12 8 <6 ual uso a Shuey gogh uss les WS4B SO- Beep ace Sark =O = ~(@eedeaecsos) ae B= -4, -WI VY eens % < -9 C-ve): ae YSanUBHAASNO, (3 % c eve ($24 24) ys re . & =-ve (-Qe04j) Angle Ar anure \ dd = \es- sus OF ange, & veckos Ora conpler pole asm thar poled) + (Sum & orgie & verter cosrnghe poles fromm other 2€s05): = IBE—(GitGokGg) = 80" Cadaus® ey) = ae - Page No. ‘ “\ Pore Gi teberseck jk oxfo & chonackeristic eg = aged gods s08+h = 0 (Hoops 8 Cfar = 3¢Cfad7etocGo) +6 =9 wi -gpu ip aos 4eofeos =O Real & tmaginany pasts equate ko se%0 Seo! ar = Fepaginary uslacuas <0 & i 4 & = BUP+BOUTO™ W432 600, Bur 800 1 = ~ (toh 36000) weld = 100 +360 w= Me = BC = 260° Pod = (0,314) CO- 346) ® ees = HCS#9) shake the wot locas, Scaeustl) ie © nee fon tha. vate Feedbous system eahose * Sth) ten 25, QUINCE? penton txarsfer Sondkin TS. Gente) (S48) © a= te not * erga nye a & 8 |cs)Hcs) = ACS) ecnncsta) 0-0 poles (A =3 poler = atin Nos yeows(m) =1 Beno S= 6 DOG axympeated (o-M) = S-1= 2 cr = um Gr goles ~ Sum BY assis mn AO) 9 16 3- aaghe Gr onypupnter. © AGAORE go neo Gy = ACHE Lage 1 Hee = 490 P=) 1 Oy = CUd+RO _ aah =—a0° ca esis) = 5 Scent) Cst) Qestcs) = b- Bceencst2) noGs pales (n=3 5 Soe nods gexos(m)=0 1 SO p Nord osyrnpkoter etrm = 30 53 Cz 420, © CAWDHBC see Le 60 eel » Go -CauyediagL a Y=2 5 Og =CaCad HV 100, x Sa ee Moke + Rost Focus starts ak agen op poles Rost enserds ak apen loop aeeos wy 5 qeouca = SCstu) (Hust). NoGe peles fmy=d, peler= Or, ~adJM NoGr Jews) = © Wwo-& anyengrEe> =(n-m) 4-0 FY ~fo-0 “B.-9g. » = Be-Q y Angle Ge ogymplotes. @ - LCagritec ® a ae nah @ 20, B= Qt Ike oy Gp Gener oe = _ > V1) By = MDH I yao? 4 4-9, Bq CAMH)EE ggg = -138" G ey I4=3, Oy = coe eee feele uc GS) UCS) = HCst9) Cs#4) NOG poler {nv =0 Nos Reows (m) = Q. No-Gs aymbotes = {nm} =(0-2) =2 c= Sum & poles - Sem Br gens _ o-(-a-4) cs oe tnGy poles- nods ae90S Sie 390 6, = CUTAN gs 1 Sy =40 Sp —as-y ed & No-G& poles = , 3en0S =O Nor abgmp totes =Q Angle Br asymptotes = gar) wd ao > Break potak gxo, Gi = aore BP pian? FS = bwieg 6 G1 8 = on Bo ae

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