Fin al 2o14

Hnd Y/R
Ay Mag

Podhs
P 74*2 * - 5 4
5*-5**4
P 2A 4
7 9=
P T3 4
Ps 7 2*6
P 5 * 6-
P 5 r-3* s 9 S

-5 -5*l* g=2S3
Pi 2 *-d
P 2 I**9
324
2 *-6 * 3*9
3 5 3 3 -4

Py 7* 3 +-6 ** 3

Ps 2 *I*2 **6

Leops
L, 4 -
La 2 t3

5*-6 -
 I-(L,) 1-()I+.4s
A 1-(L,tlz tls) = I-( - Sást6
s

A1-( Ls rls +l) I-(%++a) S3

A-(Ltly)=1-(+G)= 1+-
Ag l-()=
AgI-(o) = s1
Dio 1 -(o) = |

D 1- (ls) =

1-Co)= 1
141-(o) = 1

I - () 1
D15

1-
A
(L, letlyt Lytls tle+l7) + (L,ls +Lilg+ Lla+
Lal +LtslE) - (L\lsl)
 Final
Jan 2o/o

Aug 2ol8

Lg L
Fxed Field

Congianf speed
E

Tatn T-kem->0
JOCE)+ BCt) T >
en(+t) a éc+) emct) =Kn Bt)-

C t ) = ln

z (t)= Slt) =
X3ct) #
 Lc
,t) =
-2 2+) + U) *

inen ond
J 6Ct) Bétt) =T

Tztt) + B*gt) k a t t ) 8-2

K

C)= Z2(t) - 2 3 C4) *

g - Kn éct) - G+R«) tnt) + ( Lm+l)

R2Em 2 lm =lga kn 2 g ,

+ ) 23 Ct) 4zilt) +
-

2 tt)
.
ct) t)-2lt) g ct) *
= -
 x,+) -2 o X,9

-2-1 utt)
o
o 2-3 o

- oo oyo

XzCt)
L XyC+)

Block diagm

(2+) Tf(s) 0
Eg(s)-K6) L6) = Ipls) >

Eg-EnCs) ln5)L Rgtko + S(Lnty)

En s) Ln)4+
Km(s) 5
2]
e(s) Ts) = ke Tns)
25 66) Im6)>5
rem a bove ejuslions

TIs)- 6s) L 8s+ Js'j

e ) [ s'+2$] Os)
 inal 215

y6)

obtain choractens fic eguahan

racth stiebility. hinel Cencl tion

on
5r
sing
Stabe operatièn.

plot epon f Stability

st:ble
F a 6 d
=
® thet makes system meginally
charadotic
oscilatiisn and eqution
than Fnd freguaney f
roots at His value ¢ k

f syalem as k inceses om o tà co,

Gommet on
Stablty
O
G)-( ) G(s-3
k

TF Y) G)
RG) I+GH (SS+3 2
(S+1)(S+3) SCS+4)
K k
(S+S+3)
ss+1S+3) S+a) s(+S+3)(S+4) +15
5(S+XS+)( S+a )
Ks(S+a)
s+ (4+a)s*+ (3+ua)st +(30)S + 15 kk

choracfenste euaion is
s+ (4+o)s'+ (3+4a) S+ (34) $ + 15K =

3+4a IS K O

3a

sb, b O

sC
S C2
b = Sk(4+4)
(4+a) (3+ Ha) - 3a
4 ta 15 K
12 +l6a t30 +4a-3
a+16a+12 (a+D(9+3)
at at4
C b 30)- (a+4)
b
3a(a+1)a+3) 15K(a+4) 3a
(a+) 4+3) -15KCan)
-t+1)Car3) a +1a+3
a+y

C2 b !5 K
For stable sstem

5 K>o a+)Cat)>o
(a+DCa+3)
a- a>-3

3(4Xar) -15k(a+) >o

(a+)Ca+3)
3a (a+)(a+3) 15k (a+4) >o
-

3a ( at+ua+3)
15K(a'+3a +16) >a
-

3a12a+ 9a 15 ka- 12»K a - 2uo K >

30 +(12- 15 K)a* + (9-12o K)a 2 4o K >o

o1667
 og ion of stob:ty

O 3a+ (2-15K)a + ( 9-120k) a -

24o k so

iF la= , or marginaly stable

3 C6+
(2 -15K) (6) C3-12oK) (6)
+ -
240 K =

k= o-756
For reuongf esotietA
Ju
S + ( 3+4a) S*+ 15K = o
K o.56
d 6
g"+(3+46) (js + 15(o156) - o
-2tw* + l. 34 =o

w: .6 w-yo4
 Comment on $tabiy

Far K>o ay -i
Sysle is stable
For a6 K= o75
sysiTeeis maginaly sEble
o1erwge Sstenm is unslable
 inal 14

(S+7) y)
Ss4)(S+1)

K(s+2)2
T.F k(s+2
s(SXs+n) SCS2+rT
+Ks+z SCS1)(S+2)+ K(S+)
7s(s+5+I) s(saKst)
k(s+2)z
s"+1z s+ C2+*)st+(24+4k«)5 +4K

Tocheck stolit
4}k
S12 s°+ (K+2)s2 +(4k+24) S
o
+

K+2 4K

12 24+4k

sK AK
s'K-48 0
s4
K 48>o
o
K7 K
Value f K t c t maginally stable Sysn

4k-48 =o
K=12]
Jreenf oscilatan
K=12

s + (K+2) S* + 4k zo

:(Tu+ (2+)(J+ 4(7) =o

w 1 + 14-w) + 48
7o

Commerl on STabilty
Sysnn is stabte

O fer k>2)
Syslenm ti Margalky)
stable
. y s l e & unsfabe
thorwse
 Fnal 201S

RCS) Y(s) X,(s)

Wct he stade ond odpit eguations

due to unitsTep npu
re_anse he systn
a
h e he
the initol Cond:tton a

Soluton

Hom blck eliagfom

) [ R)-%9- M]2
C9)
5Rts)- 4 ; -

5x)
St2
S ) + 24 (6)= -5x(9-4 x(9 + 5 KES)

X t ) + 2 x, C) -5MCE) -4%(t) +5 Rt)

 (t-)

fede- 5t +5T

fE1-)-tl1-e*]

+
Jdt
t
sttsT
d+)ede Stt5t t

-] f[1-*]
- e-
-St

8 u)de - e +e
L - f et
Fo and

x) 5t
- fe4*

ye)= C
zct)+ DRCE)
yt)[ ]1+4e-/2st

yt)1+ fe-4e"
At

Alt-)
tr)
(td

ACt-T)
e
adj (sT-A) =

det SI-A =
s(s+ 6) +5 s+ 6s+5

S+6
(SI-A) +65+5 S+65+s
L+6s+5s6+5

eL[(s-A'
LS+6
S+1 S+s) (SHYG+5)
-5 S
LSHs+99 (sXs+5)

Us partal Jractan
S+6 StI
A- #s4()
(s+)(S+5)

(S+)(645)D
)+4(h)

ssns)

)+T6)
* t t ) = - 5 -6x ) + 5 R(t)>

fom block diagram

Yo) = X, (s)

yt)= zet) >

RCE)
xC

zt) =
L[ (SI-A'] z@)+ j aB uct) dr

sI-A) ajsT-A
det ISI-AI

SI-
 Final
May ?o19

* ( - v ,ct) = A dhalt)
dt
V ) -

V s) =
A sHa A I m
SHa OD
V,- V, () =

Ha y -»]
R,

Ha 5)
(s) =

hmt)= H ha te) H

Uo ( 9(Huo-H,o) K K k2
.

US)=(I+)(Hu6)- H )
( E - Ky uct)
Block diaa
VV)
US) Ha

Ha Hon