Module - 3 s) Shiflng he take off ont o a blok
R
vedoctio
Rules fo block hioqvem
" Repvesent chon of closed loop syste
R
-take of point
)shfting he SUmmey befo ve ablock
pont R C
+ Ve ’ ngatve eodbal
R
- ve ’ posihve kedboo
R()
9
)wher qoin ve
R
SUMer afky
3) when gain ave pavalle)
RI
4) Shifting the take off polnt befove a
block.
R C
Yeduction
echnigue
Using block diagvam
find tyonglev functi0n
C
I+ HG
R
Hz
+
R
R
H
C3
Hi
H2
H2
H
I+ 4,04
+Hh4
2
|+ H,Gh
R
+
R
|+ H2620)
(1+ Hz92)(It Hrb4)
H lo3
He
R()
A3 (t+ Hysa i)
H2
|+ H 2
|+ Hzo23
ic
r+H2hz,
(HI
(+ Hn 2
Y+H,2
R
1+ H 2
H|
|+
Som nev con be intvcheng
pvovi ceel
|+
ItH
H22 I+
H,,52 H,02t l+
(G+)2
02H2-
H
EH
EH-4+'H-
Ar: Valbe of doove b by d¢ elim1nating all
I+H, -H tH3 (ah3) gain on d a s oc late pvlct whie h ave
touhn g fvward pat.
|+H - H2 ) Os rnq magon gain fovoola And
tvansPe Functlon
R
HI
[+H,-4t Hzh3
Ans
Gvaphical vepvesentahen Of Vaviables
of lnear algebvaic enpve eqvahon ve
pvesentng
Signals Flo gvaph the Sysk is called sigoal Flow gvap.
Mason's gain fovmula
TF Tk k
Ovevall Lvansftv fncton e Tk Ak
k=l
k: Num bev of Avwwd pat
Tk hain of
A: Syste de evm1ncnt
*|- of all ndividual Fied back loop gaio
goio xgqin pvoduc of al) poss ble
(omblnahon of hwo non
loups)
H2
Loop
L
H
-H2
L 4 W3
h3 s
L3
H
2
HI
Ch4
Ta = 4
)
Loop
L2.
b3
-H2
2 L
L3 -H1
k= 2
Loop
3
- H H3
L3 6,ha
3 G3
k-2
Loop
Ly=-H
-H2
Loop
3
-142
hs
- Hh3 H2
-l+ H, + b3H3
H2
TE
R h3
Hi
-H2
-l-[-b
2 4
k- 2
H2
2 h2 +L, L3
H7
1.
k=2
A,l-[LitLJ
T: T, +T202
Loop
H3
2 3
L3 hyH
C= ba - aib
Slabiliy Analssis
loo p systeo bi
tvanslev functon ol any lncaY closed
The
C2 byas - a,b?
bo S + bis + bm
f(s) = C)- b),
+an
RS) a,s+ a,s'
P
fov sysem to be
Sufficieny and neesscy
IO fivst (olm of
eguahon, stoble all he tevms
chavac ttshcs
Q) = 0
de tor in tHhe Rou h ayvay must have same sIqn
acter|shes eqn
Roots. of chav
lm.
poles of s
IF heve ave sign changes hen
stabihy ave
a) Sysk m nstable
b) No of sign chanqes eqUals no: of voots
Rovth stobiliy evikion (Rouh Hovwitz stabilaly) lying YIght half of Splane.
Neresscvy (ondilion
O) Examine he stab1l1y of Systm uSing voUh ct ia
All toefhvent of polynomial has he scme siço 2
pouevs of s must be pvesent
in descen dng
ovdev, Necessovy ConditIOn ave satisfied.
X
3
n-! n -2 b 6ll 6x) l0
96)= as'+
6 6
c hovcc te ushe eqn. b 6 xOlxO >
s' lo(b) o(b)
6(c) o(c)
-2
bi Theve ove no siqn changes Sehe
n St omn in vouh
3 avvCuy herte Sys te 1S S tab le
c3
ove sal ised Theve no sign change In 1 coumn o!
ronlihon
Neceesscy
I2/4 Routh 's oway
The sysem ts stable,
2 4 |6 4
.
-3 16
6) Ex am ine stobilhy o using Roch crevia,
|b
Cy- (l6x-3) -0) -48 = l6
-3
-3 s'+S t 3S +Ss+IO=O
satushed
Neccess oany condition ave
Theve is siGD change
In (t (olommo Routh av ay -
Hence Sys t 1s unstcle. -I0 -7
No of siqn changes 2
In viçht half of splene. S
Theve aVe 2 Voots 3642
b -35 - l0-
4 C 38. S-o
) s + s + (8s+ I6s +5=0
3-8S
conditOn ave satisfed
Necces5 Cy
Teve S
18 (olomn of Roul c
Thee LS Sign chcnge
lb
Hne Systm IS Untch le
16
ANo of sign change =
S 13-5
Thee ave a voos hal! of S plare.
4 3
2) s+ aS + ls+ 205 t 305 + 255 + S=0
b, = ((6vl6) 8*s = 13.5
13.S
NecceSS Qmy condihon ave satsheo¡,
20
20 25
2 I8S 2
Theve is sígn chenge in |St colom ot
Routh avyy .Hene, Syskm S nstable
No of sin chonged (
Theie ae n voos invight nalf ot splare.
