ZoH

sysumI control Disevet

RA)
sysl hoep cosed
2
analysis. domain Time
aaloula.
Yatis)
Caawpng
spane. the vane Vames
w
rguneat a The
plone pout the
plane. S
Vavns
wi
pont Magnitude
Magnitude
aaof Abiouk
 s
(ez))
-(1-2bzf s(st2ws
(1-z)X +
(s+3an

|e
TOy(Z - e
(z-)(z-e e3wnT)
open oop syslim
domain duicrel
(Tune
en).
GoL Cz)
For
 Delay tne (td) :
The tine delay or elelay tine i thu

tne required for the esponde to read.

tivst time.
Ya os the tinal vaue very

Rise tune,., Ct):

ise téne tae t e
The

required tor the respone to moe from

LO. to q0: ) : to 4 CorJ o'/. loo07

of ts fual vales deperdng

n the

Gituatons
nder dampud
’0f to 100- nte ine
ommeny uacol.
 vedapA Systems, ( wih trandpor talion
q0

feak tune (tp)

tke tne xeqired for
Peakt e
pzak ob T
the 1d ponue to meach the fintt
ovwhoot.
Maniwn ovethoot;Mp)
oveshoot the
lhe ma mn
the responde
peak
marimun peak Vae o
Yale.
ured tro its fnal
Curne 'mead
oYehoot (NpLh)
Peak
Maimum per Cntage -cl) X OD/.
c Ctp)
Clo)

betingtne Cto):
tne
The settig
Yesponse urne to reach
vequived tor the
abeut

and sta sixe tpeLfid

vale of a
He fial tcnat value,
the

waualy
 Y(z) ObL (z)
R(Z)

|+oal)

TaTr2-e

+Ta3l2-eotz-à

-) (z-e-dsT)

.( Tay(z- e )-Cz4) (z-e3n)

Y)

(z)tz-eonlyt 422 [Tay(ze-yun

yl) 472

(2-e

)latic Postuwh esrO contant , kp:

Yt) tZ0
t co

uet

1toH)

1+ orHC2)

aeat nepte at
m t hane

onstant
emor
i') Statis veony
to
 7)) HoH) (-z)

23) GrH (z). (1-z)

2¬) (1-z) (oH())

statie velouly emor constant

kv , the steody Stote

d
o for that
esponse to Unit Yom ie
hane atuast doubie
GttC) mat

ery cOns tant CKa)

Statu acueN alon

t Z0
t2
tz0

O1 HCr). l - )
 pol ad z:1.
) GtH (z) whih p9s4s Lnple
basd
e nenbe ç
) Ney the
at x | .
the o. o pos

it Yant

(-z) nit
Parebsic C<p.

Vit
syslm type parchoic
bplo4l24

(S+Ri)
m

StPi

cCt) -Pet m

j=l

IIP to be boundd Pj zo.

otherwise, all

nOn reeata poles, on

hay of s Plane and
Jw a s

0s t ’ O, it the sys im goes to ret,

asympto He stasié
Theh the sysim lo
jw
LHS

-ot tjot
Juoy'a stability testi
chavactenshe egni
ao"

h-|

an an-I an-2
an
an
an -2

bo
bË
bn-I bn-2 bn-3

bn -2 bh-l
b2
bo
Co

ck-a Cn -3 Ch-3 Cn - 2

C2
an-(-K
... n
ak

bn -2-K
-2
,k=0 , .... h
| b o -1

bK
bo

Conditions are,

70

4. | Pz)|
tor n s oda

o-2)/ 7(Co
). kxanene
the stabi liby ob the fol lo wig
chcactovi stic
P(z)
0.0
3

0.07 -[.2
0.3

O.0] 0.3 -0.08

0.02<
-0.99 -0.07s6 (O-ao) ) Pü)-0.4)
O.09)
-o.0tC -176 -0.99
() heren
(O. 438 o1s (-o. 164 evn

O.93g
-0. l64 |.84 70

-0.08
- -0.99
-O-08

-0. 08 -|-2
ba
|.16

-0.08
b| = -0.07st

O.o9
 --O.08 O.3

-0.99 0.93 9

-0.99

-0.99 -0.015t
- -l.14e

1. 16

(.76 -0. lb4

-0.99

-0.074|

0. 938
di
o.938

0.938

-0,164

|b3)

Roos are,
0. & -0.5, D.s,D. y
 fhe stabiul oh the char act
enisic
a 1. a 0.,

N 3
2

-0.) 1
0.2

-0.1 0.2

3 -0.46 D.2

O.2 -0.6
b3
 O.2 -0.| O. la

Conditwns
O.221
Lan

P(2)-o ’ Thene
erit a hooton
enit c c e

-[-8
(odd),)
P(2)z-!
O.46 20.12
|b2| >lbol

sfoble
) The Jystem Lç
 P(2) 2- .3z -0. 08z +a. 0

feedback
4. (onidn o auscr e tue umb
sempung Penod tel, who
Ontol system wth
pulse tvansfer funcion is given by,
optn toop
Gt(z) keo.369z + ol 2642)
(z-0,3679) ()

Char actenstic egi

1+ Gt[2) -0.

(R-0.369) Cz1)+K(0.36#9z to,26 42)-n

.36 79 Z+0.2642) 0
Z-o.3619 z to.3619

/o.3b9 k t3617)z to.264 2F +o.3619 -0

4

(0 an)2 ao

0.Q642k +0.3679 4|

ke .39
 P(2) lz) >0

(3) p(z)|2=-j 20,

36 79 =0
+36y4 tO.abyak fD.
-0. 36 19 K

1358 -o,lo 34 R >0

Q.

. 7358

k a b . 38

o LKe 2.34
 Systom
yCK) 0.byCK-) -0.81yCK 2) + o.67 yck-3)

the

dols.:
Pulae Tianyo Funcion:

Y) - <(0.6) y(z)- p. zycz)tD.b4z°yY

-0.12 ZYCz) =X (Z)

+o.81 Z4 0.67 z -0.12z

0?) 1-0.62-o.81Zt0.b12-0.12z

"-0.bZ to.s1 2 4o.b9 2 . 12

characterstic eçn:

24- p.62 40.81 2t+o.

t0.642 -0,)2 =0

a3- 0.6.
Co,
Q4 = -D.12
 |0.(2 0.67 o. 81 o.b
-0.12
o.67
O.b 0.8)
2

-0.(2 -0.98sl
b3 -
-0. 12

-0.12 O.s196
0.67

- 0 . (2 O.& -0.10 72
bj'z

0.6
~ 0 . 12 -0.Si3

-0.6

Condilonai

-0.(2 ol

) pl7)|z= 70
|-o.6 40. 81 tO.b -0. |2 =l. 6 )b
 ) | 0 . 6 t0.s 0.69 -0.l2 = D. (2 >0,

|bo-)> bo

-0,

otlosbr

RIB) Jt) cl)

GiD(»): Tntaqral controler

Construet the mot lous if the 3amplung Pevod

Corsbrui
-ST
|-e
GizoH

3 Mork un plane

o poleS endot |-e

St

BreAk pt) bl
 ( z)S

| - e, - T, -l

z-(!-eT)
(-e

Gplz) GoHplz)
zlI-e-T)
x
(-z) |-e-z

-T

}-e

charatenstc ejni
14 GoL =0.

Kz( - e )
(z) (z-e )

|+ KGo C2) =o.

buo(z) = z(|-e
 wheT- 0.sseco
=K(1-e-0.s)
Gto(z)
-e-O.s)

deyos at 2=0

Poles at =| 2= 0.b06.

Refz

# poles
tKoro m

z
I+ k [O34f
(24) (z-0. 6ob)
 K|o.3942
(7)(1-0bo6)

-(z-)(z-o.bob)
O.394 Z

dk =0 )
dz

K= -(z-o Cz-b)

{2-(at6)z tab)

catb) (2 -(zatb)z tab

Q2-
(

(e z a-b) (2 - Cz+(atb) cz - abc = 0

(QZ--bta t) cz - Cz- abc=o

2

l z -cz- abc =0

z?ab
Z ab

ol = |b-0.6o6
Z= to. bob
to.t7&.
 (Ondits

G1ot = Kez
(7-a)(2-b)
obout yeal axt.
Root (oci u symmet

ke (ktP)
-4)
tan
aoL= tan

tan/ AtB)
| - AB.
tHto (2 k+H), t=o,2, ..
3
tan d -a
/4
-