Systems Analysis. Prof. Cesar de Prada ISA-UVA
|
|
- Samuel Hopkins
- 6 years ago
- Views:
Transcription
1 Sytem Analyi Prof. Cear de Prada ISAUVA
2 Aim Learn how to infer the dynamic behaviour of a cloed loo ytem from it model. Learn how to infer the change in the dynamic of a cloed loo ytem a a function of the controller arameter. Be aware of the contraint imoed by roce (and the controller) on the achievable erformance of the cloed loo ytem
3 A control loo E() R U() G() LT LC
4 Block in erie U() G () X() G () G ()X() G ()G ()U() G()U() U() G () G() G ()G ()
5 Cloed Loo Tranfer Function (CLTF) E() R() U() G() G()U() [ ] E() [ ]
6 Cloed loo ytem E() R() U() G() H() G()U() [ H() ] E() H() [ H() ]
7 Diturbance E() R U() G() H() G()U() [ H() ] [ H() ] E() H() H()
8 TranmitterController E() R() U() % G() ºC ma ºC ma ºC ma If the controller ue the tranmitter calibration and the tranmitter dynamic i fat comared with the one of the roce, then the feedback dynamic can be omitted
9 Cloed loo E() R() U() G() ey relation for feedback ytem analyi and deign
10 Cloed loo Control ignal E() R() U() G() U() R()E() R()[ ] R()[ G()U() ] U()[ R()G()] R()[ ] R() R() U()
11 Time reone in cloed loo E() R() U() G() The time reone of the cloed loo ytem under change in w(t) or v(t) can be comuted from the cloed loo ole and zero uing the reviou analyi
12 U() Examle E() ) )( ( ) ( G() G() G() d d d d τ τ τ τ τ τ τ τ τ d d τ
13 Examle E() U() d τ d τ τ d( τ ) ( τ )( τ d ) For oitive, table overdamed reone with no change in concavity againt SP te change and with change in concavity and an advanced reone if the diturbance v exerience a te change
14 Characteritic equation The tye of reone and the tability in cloed loo are given by the ole of the cloed loo TF, which correond to the root of the characteritic equation: 0 Changing the controller R(), the cloed loo time reone can be modified. Notice that the cloed loo dynamic can be comletely different from the oen loo one
15 Cloed loo zero Num() Den() Num() Den() Num() Den() The oen loo zero aear alo a zero of the cloed loo TF Num() Den() Num() Den() Num() Den() Den() Num()
16 Right half lane zero (untable zero) Num() Den() Num() Den() Num() Den() Num() Den() Num() Den() Num() Den() Den() Num() y(t) y c (t) If the oen loo time reone i of minimum hae tye, the cloed loo time reone will be imilar, indeendently of the controller R()
17 Chemical reactor u F r T ri TT Reactor T, x T r At the oerating oint: T 9 ºC x 0.90 T r 75.6 ºC F r 47.8 l/m T ri 50 ºC u 4 % U() 0.9 T ri () F r () T()
18 w Chemical reactor TC TT w u F r T ri Reactor T, x U() 3 T r T ri () T()
19 Chemical reactor 0 ( ) ( ) 0 For 4 the cloed loo ole are: i i.0079 Alo a zero at: 5. Ste reone to a change of degree in the SP
20 Cloed loo E() R() U() G()
21 Change of the cloed loo dynamic a function of change in the controller Proortional controller E() arameter U() G() G() G() G() Ecuación caracterítica : G() 0
22 Root locu G() G() Characteritic equation : G() G() 0 lane The root locu i a rereentation in the lane of the cloed loo ole for different value of the controller gain (and eventually any other aramenter) It allow to know the cloed loo tability and the tye of dynamic reone that correond to different value of the controller gain. The root locu mut be ymmetric reect to the real axi
23 Firt order ytem E() U() τ Characteritic equation : G() 0 0 τ 0 τ τ Overdamed reone with decreaing ettling time for increaing Fater reone in cloed than in oen loo /τ lane oen loo ole The root locu tar in the oen loo ole.
24 U() Second order ytem E() 0 G() tic equation : Characteri n n n ω δω ω ) 4( n n n n n n n n n n n n δ ± ω δω ω ω ω δ ± δω ω ω δω ω δω ω
25 Second order ytem If the oen loo roce i overdamed, then, when i increaed from zero, the cloed loo reone i initially alo overdamed and increaingly fater, but, above a certain gain, the reone become underdamed with contant ettling time and increaing overhoot and ocillation frequency δω n ± ω n δ Oen loo ole Plano The root locu tar in the oen loo ole.
26 Second order ytem δω n ± ω n δ If the oen loo roce i underdamed, then, when i increaed from zero, the cloed loo reone i alo underdamed with contant ettling time and increaing overhoot and ocillation frequency Oen loo ole lane The root locu tar in the oen loo ole.
27 Root locu Den() for the root locu tart in the oen loo ole for G() 0 Num() Num() Den() 0 Den() Num() the root locu end at the oen loo zero ( )( τ ) ( ) 3 τ3 ( τ )( τ ) ( τ )( τ ) Extra zero located at infinite can be conidered to exit (u to equating the number of ole and zero) 0 0 0
28 Root locu G() G() 0 lane For any oint on the root locu, G() ha argument π Oen loo ole Siotool
29 Third order ytem Imag Axi lane Real Axi With increaing, the ytem reone i more ocillatory and can become untable
30 Real cloed loo ytem U() Actuator Proce A real cloed loo ytem i alway of third or higher order due to the dynamic of actuator and tranmitter. Accordingly, a high value of will tend to detabilize the cloed loo ytem. Imag Axi Tranmitter lane Real Axi
31 Root locu lane τ ωn δω ω n n lane /τ.5.5 lane Imag Axi ( τ )( τ )( τ3 ) Real Axi
32 Zero in the right hand ide Imaginary Axi Root Locu lane Real Axi A the root locu end at the oen loo zero, if there are untable zero in oen loo, then the cloed loo ytem will became untable for increaing value of
33 PIG() E() ( T i ) U() G() Characteritic equation : R()G() 0 T i G() T i 0 For a given T i one can draw the root locu of the extended ytem (T i )G()/
34 PI Firt order E() ( T i ) U() τ Characteritic equation : R()G() 0 Tτ i T i 0 T τ T ( T i( ( i i ) ± ) ± ) T i Tτ ( τ ( T( τ ) 0 i i ) ) 4τ 4Tτ T (T ) i i i 0 The root locu can be drawn for any given T i
35 PI Firt order τ ( ) T ( i T i, τ 0.5 ) Imag Axi Real Axi
36 PI Firt order τ ( ) T ( i ) 0.5 Imag Axi 0 T i 0.5, τ Real Axi SyQuake
37 PI G() G() (0.5 )( ) ( ) T ( i ) 4 Imag Axi T i Real Axi
38 PI G() G() (0.5 )( ) ( ) T ( i T i ) Imag Axi Real Axi
39 PI G() 0 G() (0.5 )( ) ( ) T ( i ) 0.5 Imag Axi 0 4 T i Real Axi The cloed loo dynamic can vary a lot according to the relative zero oition SyQuake
40 Steady tate error E() R() U() G() If the value of the et oint change or a diturbance aear, which will be the value of the error e(t) at teady tate? e lim e(t) t lim E() 0
41 Steady tate error, e w TC TT u F r T ri Reactor T r e T, x
42 Steady tate error E() R() U() G() E() [G()U() ] [E() ] E()[ ] E()
43 Steady tate error, te on W E() R() U() G() e lim e(t) t E() lim E() 0 lim 0 w w G(0)R(0)
44 Steady tate error, te on W E() R() U() G() w e G(0)R(0) If G() or R() have an (a )(...) integrator: (b )(c ) w G(0)R(0) e 0 G(0)R(0) CStation If not, the teady tate error will have a finite value, decreaing with
45 Steady tate error, te onv E() R() U() G() E() e lim e(t) t lim E() 0 lim 0 v D(0)v G(0)R(0) If have a zero at 0 e 0
46 Steady tate error, te on V E() U() R() G() D(0)v e G(0)R(0) G(0)R(0) e If ha no integrator: if (a )(...) G() or R() have one (b )(c ) ntegrator: If not, the teady D(0)v 0 tate error will G(0)R(0) have a finite value, decreaing with
47 Steady tate error, te on V D(0)v e G(0)R(0) If ha one integrator: If G() or R() have one integrator: GR() v v GR() D(0)v e The error will be finite GR(0) If neither G() nor R() have one integrator: D(0)v 0 0G(0)R(0) v v Increaing error
48 Delay E() U() R() G() w e G(0)R(0) D(0)v e G(0)R(0) The exitance of delay in G() or doe not influence the analyi of the error in teady tate e d (a )(...) (b )(c ) SyQuake
49 Steady tate error, ram on W E() R() U() G() E() w e lim e(t) lim E() lim t 0 0 w G(0)R(0)
50 Steady tate error, ram on W E() R() U() G() GR() e w G(0)R(0) e w GR(0) If G() or R() do not have an integrator: Infinite error. If they have one: finite error. Two integrator are required in in order to make the error zero ay teady tate.
51 4 baic TF E() R U() G() It i imortant to ay attention alo to the control effort R() R() U()
52 One degree of freedom controller E() R U() G() If R() i choen in order to get a good dynamic reone againt et oint change, then, the reone againt diturbance i given, and vicevera. There i no enough degree of freedom to deign the controller for the two aim imultaneouly.
53 w U() T Controller Two degree of freedom R() controller DOF [ T() S() ] / R S B()T() R()A() B()S() u B() Y () U() A() B / A Proce B() R()A() B()S() It i oible to elect R and S in order to get a good reone againt diturbance and elect T in order to tune the reone againt et oint change v y
ROOT LOCUS. Poles and Zeros
Automatic Control Sytem, 343 Deartment of Mechatronic Engineering, German Jordanian Univerity ROOT LOCUS The Root Locu i the ath of the root of the characteritic equation traced out in the - lane a a ytem
More informationFigure 1 Siemens PSSE Web Site
Stability Analyi of Dynamic Sytem. In the lat few lecture we have een how mall ignal Lalace domain model may be contructed of the dynamic erformance of ower ytem. The tability of uch ytem i a matter of
More informationControl Systems. Root locus.
Control Sytem Root locu chibum@eoultech.ac.kr Outline Concet of Root Locu Contructing root locu Control Sytem Root Locu Stability and tranient reone i cloely related with the location of ole in -lane How
More informationControl Systems. Root locus.
Control Sytem Root locu chibum@eoultech.ac.kr Outline Concet of Root Locu Contructing root locu Control Sytem Root Locu Stability and tranient reone i cloely related with the location of ole in -lane How
More informationChapter 10. Closed-Loop Control Systems
hapter 0 loed-loop ontrol Sytem ontrol Diagram of a Typical ontrol Loop Actuator Sytem F F 2 T T 2 ontroller T Senor Sytem T TT omponent and Signal of a Typical ontrol Loop F F 2 T Air 3-5 pig 4-20 ma
More informationControl Systems Engineering ( Chapter 7. Steady-State Errors ) Prof. Kwang-Chun Ho Tel: Fax:
Control Sytem Engineering ( Chapter 7. Steady-State Error Prof. Kwang-Chun Ho kwangho@hanung.ac.kr Tel: 0-760-453 Fax:0-760-4435 Introduction In thi leon, you will learn the following : How to find the
More informationME 375 FINAL EXAM Wednesday, May 6, 2009
ME 375 FINAL EXAM Wedneday, May 6, 9 Diviion Meckl :3 / Adam :3 (circle one) Name_ Intruction () Thi i a cloed book examination, but you are allowed three ingle-ided 8.5 crib heet. A calculator i NOT allowed.
More informationUSE OF INTERNET TO DO EXPERIMENTS IN DYNAMICS AND CONTROL FROM ZACATECAS MEXICO IN THE LABORATORY OF THE UNIVERSITY OF TENNESSEE AT CHATANOOGAA.
USE OF INTERNET TO DO EXPERIMENTS IN DYNAMICS AND CONTROL FROM ZACATECAS MEXICO IN TE LABORATORY OF TE UNIVERSITY OF TENNESSEE AT CATANOOGAA. Jim enry *, Joé Alberto González Guerrero, Benito Serrano Roale..
More informationDigital Control System
Digital Control Sytem - A D D A Micro ADC DAC Proceor Correction Element Proce Clock Meaurement A: Analog D: Digital Continuou Controller and Digital Control Rt - c Plant yt Continuou Controller Digital
More informationLecture 8 - SISO Loop Design
Lecture 8 - SISO Loop Deign Deign approache, given pec Loophaping: in-band and out-of-band pec Fundamental deign limitation for the loop Gorinevky Control Engineering 8-1 Modern Control Theory Appy reult
More informationOVERSHOOT FREE PI CONTROLLER TUNING BASED ON POLE ASSIGNMENT
OVERSHOO FREE PI CONROER UNING BASED ON POE ASSIGNMEN Nevra Bayhan * Mehmet uran Söylemez ** uğba Botan ** e-mail: nevra@itanbul.edu.tr e-mail: oylemez@el.itu.edu.tr e-mail: botan@itu.edu.tr * Itanbul
More informationRoot Locus Contents. Root locus, sketching algorithm. Root locus, examples. Root locus, proofs. Root locus, control examples
Root Locu Content Root locu, ketching algorithm Root locu, example Root locu, proof Root locu, control example Root locu, influence of zero and pole Root locu, lead lag controller deign 9 Spring ME45 -
More informationAnalysis of Stability &
INC 34 Feedback Control Sytem Analyi of Stability & Steady-State Error S Wonga arawan.won@kmutt.ac.th Summary from previou cla Firt-order & econd order ytem repone τ ωn ζω ω n n.8.6.4. ζ ζ. ζ.5 ζ ζ.5 ct.8.6.4...4.6.8..4.6.8
More informationLecture 4. Chapter 11 Nise. Controller Design via Frequency Response. G. Hovland 2004
METR4200 Advanced Control Lecture 4 Chapter Nie Controller Deign via Frequency Repone G. Hovland 2004 Deign Goal Tranient repone via imple gain adjutment Cacade compenator to improve teady-tate error Cacade
More informationModule 4: Time Response of discrete time systems Lecture Note 1
Digital Control Module 4 Lecture Module 4: ime Repone of dicrete time ytem Lecture Note ime Repone of dicrete time ytem Abolute tability i a baic requirement of all control ytem. Apart from that, good
More informationECSE 4440 Control System Engineering. Project 1. Controller Design of a Second Order System TA
ECSE 4440 Control Sytem Enineerin Project 1 Controller Dein of a Secon Orer Sytem TA Content 1. Abtract. Introuction 3. Controller Dein for a Sinle Penulum 4. Concluion 1. Abtract The uroe of thi roject
More informationME 375 FINAL EXAM SOLUTIONS Friday December 17, 2004
ME 375 FINAL EXAM SOLUTIONS Friday December 7, 004 Diviion Adam 0:30 / Yao :30 (circle one) Name Intruction () Thi i a cloed book eamination, but you are allowed three 8.5 crib heet. () You have two hour
More informationEE/ME/AE324: Dynamical Systems. Chapter 8: Transfer Function Analysis
EE/ME/AE34: Dynamical Sytem Chapter 8: Tranfer Function Analyi The Sytem Tranfer Function Conider the ytem decribed by the nth-order I/O eqn.: ( n) ( n 1) ( m) y + a y + + a y = b u + + bu n 1 0 m 0 Taking
More informationMODERN CONTROL SYSTEMS
MODERN CONTROL SYSTEMS Lecture 1 Root Locu Emam Fathy Department of Electrical and Control Engineering email: emfmz@aat.edu http://www.aat.edu/cv.php?dip_unit=346&er=68525 1 Introduction What i root locu?
More informationAli Karimpour Associate Professor Ferdowsi University of Mashhad
LINEAR CONTROL SYSTEMS Ali Karimour Aoiate Profeor Ferdowi Univerity of Mahhad Leture 0 Leture 0 Frequeny domain hart Toi to be overed inlude: Relative tability meaure for minimum hae ytem. ain margin.
More informationME 375 System Modeling and Analysis. Homework 11 Solution. Out: 18 November 2011 Due: 30 November 2011 = + +
Out: 8 November Due: 3 November Problem : You are given the following system: Gs () =. s + s+ a) Using Lalace and Inverse Lalace, calculate the unit ste resonse of this system (assume zero initial conditions).
More informationMM1: Basic Concept (I): System and its Variables
MM1: Baic Concept (I): Sytem and it Variable A ytem i a collection of component which are coordinated together to perform a function Sytem interact with their environment. The interaction i defined in
More informationFigure 1: Unity Feedback System
MEM 355 Sample Midterm Problem Stability 1 a) I the following ytem table? Solution: G() = Pole: -1, -2, -2, -1.5000 + 1.3229i, -1.5000-1.3229i 1 ( + 1)( 2 + 3 + 4)( + 2) 2 A you can ee, all pole are on
More informationStability. ME 344/144L Prof. R.G. Longoria Dynamic Systems and Controls/Lab. Department of Mechanical Engineering The University of Texas at Austin
Stability The tability of a ytem refer to it ability or tendency to eek a condition of tatic equilibrium after it ha been diturbed. If given a mall perturbation from the equilibrium, it i table if it return.
More informationAnalysis of PI controller by model based tuning method in Real Time Level Control of Conical Tank System using block box modeling
International Journal of ChemTech Reearch CODEN (USA): IJCRGG, ISSN: 0974-490, ISSN(Online):455-9555 Vol.11 No.01, 86-99, 018 Analyi of PI controller by model baed tuning method in Real Time Level Control
More informationLecture 8. PID control. Industrial process control ( today) PID control. Insights about PID actions
Lecture 8. PID control. The role of P, I, and D action 2. PID tuning Indutrial proce control (92... today) Feedback control i ued to improve the proce performance: tatic performance: for contant reference,
More informationDelhi Noida Bhopal Hyderabad Jaipur Lucknow Indore Pune Bhubaneswar Kolkata Patna Web: Ph:
Serial :. PT_EE_A+C_Control Sytem_798 Delhi Noida Bhopal Hyderabad Jaipur Lucknow Indore Pune Bhubanewar olkata Patna Web: E-mail: info@madeeay.in Ph: -4546 CLASS TEST 8-9 ELECTRICAL ENGINEERING Subject
More informationChapter 7. Root Locus Analysis
Chapter 7 Root Locu Analyi jw + KGH ( ) GH ( ) - K 0 z O 4 p 2 p 3 p Root Locu Analyi The root of the cloed-loop characteritic equation define the ytem characteritic repone. Their location in the complex
More informationLecture 5 Introduction to control
Lecture 5 Introduction to control Tranfer function reviited (Laplace tranform notation: ~jω) () i the Laplace tranform of v(t). Some rule: ) Proportionality: ()/ in () 0log log() v (t) *v in (t) () * in
More informationGain and Phase Margins Based Delay Dependent Stability Analysis of Two- Area LFC System with Communication Delays
Gain and Phae Margin Baed Delay Dependent Stability Analyi of Two- Area LFC Sytem with Communication Delay Şahin Sönmez and Saffet Ayaun Department of Electrical Engineering, Niğde Ömer Halidemir Univerity,
More informationWolfgang Hofle. CERN CAS Darmstadt, October W. Hofle feedback systems
Wolfgang Hofle Wolfgang.Hofle@cern.ch CERN CAS Darmtadt, October 9 Feedback i a mechanim that influence a ytem by looping back an output to the input a concept which i found in abundance in nature and
More informationFeedback Control Systems (FCS)
Feedback Control Sytem (FCS) Lecture19-20 Routh-Herwitz Stability Criterion Dr. Imtiaz Huain email: imtiaz.huain@faculty.muet.edu.pk URL :http://imtiazhuainkalwar.weebly.com/ Stability of Higher Order
More informationECE-320 Linear Control Systems. Spring 2014, Exam 1. No calculators or computers allowed, you may leave your answers as fractions.
ECE-0 Linear Control Sytem Spring 04, Exam No calculator or computer allowed, you may leave your anwer a fraction. All problem are worth point unle noted otherwie. Total /00 Problem - refer to the unit
More informationChapter 13. Root Locus Introduction
Chapter 13 Root Locu 13.1 Introduction In the previou chapter we had a glimpe of controller deign iue through ome imple example. Obviouly when we have higher order ytem, uch imple deign technique will
More informationRoot Locus Diagram. Root loci: The portion of root locus when k assume positive values: that is 0
Objective Root Locu Diagram Upon completion of thi chapter you will be able to: Plot the Root Locu for a given Tranfer Function by varying gain of the ytem, Analye the tability of the ytem from the root
More informationOperational transconductance amplifier based voltage-mode universal filter
Indian Journal of Pure & Alied Phyic ol. 4, etember 005,. 74-79 Oerational tranconductance amlifier baed voltage-mode univeral filter Naeem Ahmad & M R Khan Deartment of Electronic and Communication Engineering,
More informationMEM 355 Performance Enhancement of Dynamical Systems Root Locus Analysis
MEM 355 Performance Enhancement of Dynamical Sytem Root Locu Analyi Harry G. Kwatny Department of Mechanical Engineering & Mechanic Drexel Univerity Outline The root locu method wa introduced by Evan in
More informationAnalysis of Feedback Control Systems
Colorado Shool of Mine CHEN403 Feedbak Control Sytem Analyi of Feedbak Control Sytem ntrodution to Feedbak Control Sytem 1 Cloed oo Reone 3 Breaking Aart the Problem to Calulate the Overall Tranfer Funtion
More informationStability regions in controller parameter space of DC motor speed control system with communication delays
Stability region in controller parameter pace of DC motor peed control ytem with communication delay Şahin Sönmez, Saffet Ayaun Department of Electrical and Electronic Engineering, Nigde Univerity, 5124,
More informationNODIA AND COMPANY. GATE SOLVED PAPER Electronics & Communication Control System. Copyright By NODIA & COMPANY
No art of thi ublication may be reroduced ditributed in any fm any mean, electronic, mechanical, hotocoying, otherwie without the ri ermiion of the auth. ATE OLVED PAPER Electronic & Communication Control
More informationNAME (pinyin/italian)... MATRICULATION NUMBER... SIGNATURE
POLITONG SHANGHAI BASIC AUTOMATIC CONTROL June Academic Year / Exam grade NAME (pinyin/italian)... MATRICULATION NUMBER... SIGNATURE Ue only thee page (including the bac) for anwer. Do not ue additional
More informationThe Root Locus Method
The Root Locu Method MEM 355 Performance Enhancement of Dynamical Sytem Harry G. Kwatny Department of Mechanical Engineering & Mechanic Drexel Univerity Outline The root locu method wa introduced by Evan
More informationME2142/ME2142E Feedback Control Systems
Root Locu Analyi Root Locu Analyi Conider the cloed-loop ytem R + E - G C B H The tranient repone, and tability, of the cloed-loop ytem i determined by the value of the root of the characteritic equation
More information1 Routh Array: 15 points
EE C28 / ME34 Problem Set 3 Solution Fall 2 Routh Array: 5 point Conider the ytem below, with D() k(+), w(t), G() +2, and H y() 2 ++2 2(+). Find the cloed loop tranfer function Y () R(), and range of k
More informationEE Control Systems LECTURE 14
Updated: Tueday, March 3, 999 EE 434 - Control Sytem LECTURE 4 Copyright FL Lewi 999 All right reerved ROOT LOCUS DESIGN TECHNIQUE Suppoe the cloed-loop tranfer function depend on a deign parameter k We
More informationTHE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY STABILIZING CONTROLLERS. Tatsuya Hoshikawa, Kou Yamada and Yuko Tatsumi
International Journal of Innovative Computing, Information Control ICIC International c 206 ISSN 349-498 Volume 2, Number 2, April 206 pp. 357 370 THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY
More informationSolutions. Digital Control Systems ( ) 120 minutes examination time + 15 minutes reading time at the beginning of the exam
BSc - Sample Examination Digital Control Sytem (5-588-) Prof. L. Guzzella Solution Exam Duration: Number of Quetion: Rating: Permitted aid: minute examination time + 5 minute reading time at the beginning
More informationECE 3510 Root Locus Design Examples. PI To eliminate steady-state error (for constant inputs) & perfect rejection of constant disturbances
ECE 350 Root Locu Deign Example Recall the imple crude ervo from lab G( ) 0 6.64 53.78 σ = = 3 23.473 PI To eliminate teady-tate error (for contant input) & perfect reection of contant diturbance Note:
More informationChapter #4 EEE Automatic Control
Spring 008 EEE 00 Chapter #4 EEE 00 Automatic Control Root Locu Chapter 4 /4 Spring 008 EEE 00 Introduction Repone depend on ytem and controller parameter > Cloed loop pole location depend on ytem and
More informationFeedforward Control identifiable disturbance measured,
Feeforwar Control So far, mot of the focu of thi coure ha been on feeback control. In certain ituation, the erformance of control ytem can be enhance greatly by the alication of feeforwar control. What
More informationFunction and Impulse Response
Tranfer Function and Impule Repone Solution of Selected Unolved Example. Tranfer Function Q.8 Solution : The -domain network i hown in the Fig... Applying VL to the two loop, R R R I () I () L I () L V()
More informationDesign of Two-Channel Low-Delay FIR Filter Banks Using Constrained Optimization
contrained otimization, CIT Journal of Comuting and Information Technology, vol. 8, no 4,. 34 348, 2. Deign of Two-Channel Low-Delay FIR Filter Bank Uing Contrained Otimization Abtract Robert Bregović
More informationSimulation of Wound Rotor Synchronous Machine under Voltage Sags
Simulation of Wound Rotor Synchronou Machine under oltage Sag D. Aguilar, G. azquez, Student Member, IEEE, A. Rolan, Student Member, IEEE, J. Rocabert, Student Member, IEEE, F. Córcole, Member, IEEE, and
More informationHomework 12 Solution - AME30315, Spring 2013
Homework 2 Solution - AME335, Spring 23 Problem :[2 pt] The Aerotech AGS 5 i a linear motor driven XY poitioning ytem (ee attached product heet). A friend of mine, through careful experimentation, identified
More informationCHAPTER 5. The Operational Amplifier 1
EECE22 NETWORK ANALYSIS I Dr. Charle J. Kim Cla Note 9: Oerational Amlifier (OP Am) CHAPTER. The Oerational Amlifier A. INTRODUCTION. The oerational amlifier or o am for hort, i a eratile circuit building
More informationAutomatic Control Systems. Part III: Root Locus Technique
www.pdhcenter.com PDH Coure E40 www.pdhonline.org Automatic Control Sytem Part III: Root Locu Technique By Shih-Min Hu, Ph.D., P.E. Page of 30 www.pdhcenter.com PDH Coure E40 www.pdhonline.org VI. Root
More informationStability Criterion Routh Hurwitz
EES404 Fundamental of Control Sytem Stability Criterion Routh Hurwitz DR. Ir. Wahidin Wahab M.Sc. Ir. Arie Subiantoro M.Sc. Stability A ytem i table if for a finite input the output i imilarly finite A
More informationLecture Notes II. As the reactor is well-mixed, the outlet stream concentration and temperature are identical with those in the tank.
Lecture Note II Example 6 Continuou Stirred-Tank Reactor (CSTR) Chemical reactor together with ma tranfer procee contitute an important part of chemical technologie. From a control point of view, reactor
More informationThe state variable description of an LTI system is given by 3 1O. Statement for Linked Answer Questions 3 and 4 :
CHAPTER 6 CONTROL SYSTEMS YEAR TO MARKS MCQ 6. The tate variable decription of an LTI ytem i given by Jxo N J a NJx N JN K O K OK O K O xo a x + u Kxo O K 3 a3 OKx O K 3 O L P L J PL P L P x N K O y _
More informationLecture 10. Erbium-doped fiber amplifier (EDFA) Raman amplifiers Have replaced semiconductor optical amplifiers in the course
ecture 1 Two tye of otical amlifier: Erbium-doed fiber amlifier (EDFA) Raman amlifier Have relaced emiconductor otical amlifier in the coure Fiber Otical Communication ecture 1, Slide 1 Benefit and requirement
More informationMM7. PID Control Design
MM7. PD Control Deign Reading Material: FC: p.79-200, DC: p.66-68. Propertie of PD control 2. uning Method of PD Control 3. Antiwindup echnique 4. A real cae tudy BO9000 0/9/2004 Proce Control . PD Feedback
More informationThe Performance of Feedback Control Systems
The Performace of Feedbac Cotrol Sytem Objective:. Secify the meaure of erformace time-domai the firt te i the deig roce Percet overhoot / Settlig time T / Time to rie / Steady-tate error e. ut igal uch
More informationInternal Model Control
Internal Model Control Part o a et o leture note on Introdution to Robut Control by Ming T. Tham 2002 The Internal Model Prinile The Internal Model Control hiloohy relie on the Internal Model Prinile,
More informationCh. 6 Single Variable Control ES159/259
Ch. 6 Single Variable Control Single variable control How o we eterine the otor/actuator inut o a to coan the en effector in a eire otion? In general, the inut voltage/current oe not create intantaneou
More informationS_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS
S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS by Michelle Gretzinger, Daniel Zyngier and Thoma Marlin INTRODUCTION One of the challenge to the engineer learning proce control i relating theoretical
More informationx with A given by (6.2.1). The control ( ) ( )
Homework 5 Sring 9 AerE33 Due 4/(F) SOLUTION PROBLEM (3t) In thi roblem we will invetigate the longitudinal dynamic of the B747 airlane a decribed in Etkin 66 The tate model i x Ax Bu where the tate vector
More informationLOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM. P.Dickinson, A.T.Shenton
LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM P.Dickinon, A.T.Shenton Department of Engineering, The Univerity of Liverpool, Liverpool L69 3GH, UK Abtract: Thi paper compare
More informationLecture 3. Dispersion and waves in cold plasma. Review and extension of the previous lecture. Basic ideas. Kramers-Kronig relations
Lecture 3 Dierion and wave in cold lama Review and extenion of the reviou lecture Baic idea At the reviou lecture, we dicued how to roerly earch for eigenmode (or quai-eigenmode) of a dierive medium. In
More information55:041 Electronic Circuits
55:04 Electronic ircuit Frequency eone hater 7 A. Kruger Frequency eone- ee age 4-5 o the Prologue in the text Imortant eview v = M co ωt + θ m = M e e j ωt+θ m = e M e jθ me jωt Thi lead to the concet
More informationEE 4443/5329. LAB 3: Control of Industrial Systems. Simulation and Hardware Control (PID Design) The Inverted Pendulum. (ECP Systems-Model: 505)
EE 4443/5329 LAB 3: Control of Indutrial Sytem Simulation and Hardware Control (PID Deign) The Inverted Pendulum (ECP Sytem-Model: 505) Compiled by: Nitin Swamy Email: nwamy@lakehore.uta.edu Email: okuljaca@lakehore.uta.edu
More informationChapter 8. Root Locus Techniques
Chapter 8 Rt Lcu Technique Intrductin Sytem perfrmance and tability dt determined dby cled-lp l ple Typical cled-lp feedback cntrl ytem G Open-lp TF KG H Zer -, - Ple 0, -, -4 K 4 Lcatin f ple eaily fund
More informationCHBE320 LECTURE V LAPLACE TRANSFORM AND TRANSFER FUNCTION. Professor Dae Ryook Yang
CHBE3 ECTURE V APACE TRANSFORM AND TRANSFER FUNCTION Profeor Dae Ryook Yang Spring 8 Dept. of Chemical and Biological Engineering 5- Road Map of the ecture V aplace Tranform and Tranfer function Definition
More informationMassachusetts Institute of Technology Dynamics and Control II
I E Maachuett Intitute of Technology Department of Mechanical Engineering 2.004 Dynamic and Control II Laboratory Seion 5: Elimination of Steady-State Error Uing Integral Control Action 1 Laboratory Objective:
More informationSKEE 3143 CONTROL SYSTEM DESIGN. CHAPTER 3 Compensator Design Using the Bode Plot
SKEE 3143 CONTROL SYSTEM DESIGN CHAPTER 3 Compenator Deign Uing the Bode Plot 1 Chapter Outline 3.1 Introduc4on Re- viit to Frequency Repone, ploang frequency repone, bode plot tability analyi. 3.2 Gain
More informationCONTROL OF INTEGRATING PROCESS WITH DEAD TIME USING AUTO-TUNING APPROACH
Brazilian Journal of Chemical Engineering ISSN 004-6632 Printed in Brazil www.abeq.org.br/bjche Vol. 26, No. 0, pp. 89-98, January - March, 2009 CONROL OF INEGRAING PROCESS WIH DEAD IME USING AUO-UNING
More informationQuestion 1 Equivalent Circuits
MAE 40 inear ircuit Fall 2007 Final Intruction ) Thi exam i open book You may ue whatever written material you chooe, including your cla note and textbook You may ue a hand calculator with no communication
More informationCHAPTER 4 DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL
98 CHAPTER DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL INTRODUCTION The deign of ytem uing tate pace model for the deign i called a modern control deign and it i
More informationChapter 9: Controller design. Controller design. Controller design
Chapter 9. Controller Deign 9.. Introduction 9.2. Eect o negative eedback on the network traner unction 9.2.. Feedback reduce the traner unction rom diturbance to the output 9.2.2. Feedback caue the traner
More informationINPUT SHAPING FILTERS FOR THE CONTROL OF ELECTRICAL DRIVE WITH FLEXIBLE LOAD
INPUT SHAPING FILTERS FOR THE CONTROL OF ELECTRICAL DRIVE WITH FLEXIBLE LOAD Goubej Martin, Skarda Radek and Schlegel Milo Deartment of Cybernetic, Unierity of Wet Bohemia in Pilen, Unierzitni 8, 36, Pilen,
More informationLinear-Quadratic Control System Design
Linear-Quadratic Control Sytem Deign Robert Stengel Optimal Control and Etimation MAE 546 Princeton Univerity, 218! Control ytem configuration! Proportional-integral! Proportional-integral-filtering! Model
More informationRADIATION THERMOMETRY OF METAL IN HIGH TEMPERATURE FURNACE
XVII IMEKO World Congre Metrology in the 3rd Millennium June 22 27, 2003, Dubrovnik, Croatia RADIATION THERMOMETRY OF METAL IN HIGH TEMPERATURE FURNACE Tohru Iuchi, Tohru Furukawa and Nobuharu Sato Deartment
More informationRELIABILITY ANALYSIS OF A COMPLEX REPAIRABLE SYSTEM COMPOSED OF TWO 2-OUT-OF-3: G SUBSYSTEMS CONNECTED IN PARALLEL
Journal of Reliability and Statitical Studie; ISSN (Print: 97-8, (Online:9-5666 Vol. 7, Iue Secial (: 89- RELIILITY NLYSIS OF COMPLEX REPIRLE SYSTEM COMPOSE OF TWO -OUT-OF-: G SUSYSTEMS CONNECTE IN PRLLEL
More informationNONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH
International Journal of Electrical, Electronic and Data Communication, ISSN: 232-284 Volume-3, Iue-8, Aug.-25 NONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH
More informationControl Systems Analysis and Design by the Root-Locus Method
6 Control Sytem Analyi and Deign by the Root-Locu Method 6 1 INTRODUCTION The baic characteritic of the tranient repone of a cloed-loop ytem i cloely related to the location of the cloed-loop pole. If
More informationR. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder
R. W. Erickon Department of Electrical, Computer, and Energy Engineering Univerity of Colorado, Boulder ZOH: Sampled Data Sytem Example v T Sampler v* H Zero-order hold H v o e = 1 T 1 v *( ) = v( jkω
More informationECE382/ME482 Spring 2004 Homework 4 Solution November 14,
ECE382/ME482 Spring 2004 Homework 4 Solution November 14, 2005 1 Solution to HW4 AP4.3 Intead of a contant or tep reference input, we are given, in thi problem, a more complicated reference path, r(t)
More informationGiven the following circuit with unknown initial capacitor voltage v(0): X(s) Immediately, we know that the transfer function H(s) is
EE 4G Note: Chapter 6 Intructor: Cheung More about ZSR and ZIR. Finding unknown initial condition: Given the following circuit with unknown initial capacitor voltage v0: F v0/ / Input xt 0Ω Output yt -
More informationA Simplified Methodology for the Synthesis of Adaptive Flight Control Systems
A Simplified Methodology for the Synthei of Adaptive Flight Control Sytem J.ROUSHANIAN, F.NADJAFI Department of Mechanical Engineering KNT Univerity of Technology 3Mirdamad St. Tehran IRAN Abtract- A implified
More informationImproved Adaptive Time Delay Estimation Algorithm Based on Fourth-order Cumulants
Available online www.jocr.com Journal of hemical and Pharmaceutical Reearch, 016, 8(5):889-894 Reearch Article ISSN : 0975-784 ODEN(USA) : JPR5 Imroved Adative Time Delay Etimation Algorithm Baed on Fourth-order
More informationEXTENDED STABILITY MARGINS ON CONTROLLER DESIGN FOR NONLINEAR INPUT DELAY SYSTEMS. Otto J. Roesch, Hubert Roth, Asif Iqbal
EXTENDED STABILITY MARGINS ON CONTROLLER DESIGN FOR NONLINEAR INPUT DELAY SYSTEMS Otto J. Roech, Hubert Roth, Aif Iqbal Intitute of Automatic Control Engineering Univerity Siegen, Germany {otto.roech,
More informationActive Disturbance Rejection Control for an Electro-statically Actuated MEMS Device
INTERNATIONAL JOURNAL OF INTELLIGENT CONTROL AND SYSTEMS VOL.6NO.Setember/December 6-69 Active Diturbance Rejection Control for an Electro-tatically Actuated MEMS Device Lili DONG and Jaon EDWARDS Abtract
More informationME 3560 Fluid Mechanics
Sring 018 ME 3560 Fluid Mechanic Chater III. Elementary Fluid Dynamic The Bernoulli Equation 1 Sring 018 3.1 Newton Second Law A fluid article can exerience acceleration or deceleration a it move from
More informationCHE302 LECTURE V LAPLACE TRANSFORM AND TRANSFER FUNCTION. Professor Dae Ryook Yang
CHE3 ECTURE V APACE TRANSFORM AND TRANSFER FUNCTION Profeor Dae Ryook Yang Fall Dept. of Chemical and Biological Engineering Korea Univerity CHE3 Proce Dynamic and Control Korea Univerity 5- SOUTION OF
More informationDESIGN AND ANALYSIS OF FLEXIBLE STRUCTURES WITH PARAMETRIC UNCERTAINTIES FOR ACTIVE VIBRATION CONTROL USING ANSYS
INTERNATIONAL JOURNAL OF R&D IN ENGINEERING, SCIENCE AND MANAGEMENT Vol.1, Iue I, AUG.14 ISSN 9-85X Reearch Paer DESIGN AND ANALYSIS OF FLEXIBLE STRUCTURES WITH PARAMETRIC UNCERTAINTIES FOR ACTIVE VIBRATION
More informationSliding Mode Control of a Dual-Fuel System Internal Combustion Engine
Proceeding of the ASME 9 Dynamic Sytem and Control Conference DSCC9 October -4, 9, Hollywood, California, USA DSCC9-59 Control of a Dual-Fuel Sytem Internal Combution Engine Stephen Pace Department of
More informationSolved problems 4 th exercise
Soled roblem th exercie Soled roblem.. On a circular conduit there are different diameter: diameter D = m change into D = m. The elocity in the entrance rofile wa meaured: = m -. Calculate the dicharge
More informationCONTROL SYSTEMS. Chapter 2 : Block Diagram & Signal Flow Graphs GATE Objective & Numerical Type Questions
ONTOL SYSTEMS hapter : Bloc Diagram & Signal Flow Graph GATE Objective & Numerical Type Quetion Quetion 6 [Practice Boo] [GATE E 994 IIT-Kharagpur : 5 Mar] educe the ignal flow graph hown in figure below,
More informationCompensation Techniques
D Compenation ehnique Performane peifiation for the loed-loop ytem Stability ranient repone Æ, M (ettling time, overhoot) or phae and gain margin Steady-tate repone Æ e (teady tate error) rial and error
More information376 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD. D(s) = we get the compensated system with :
376 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD Therefore by applying the lead compenator with ome gain adjutment : D() =.12 4.5 +1 9 +1 we get the compenated ytem with : PM =65, ω c = 22 rad/ec, o
More informationCONTROL SYSTEMS. Chapter 5 : Root Locus Diagram. GATE Objective & Numerical Type Solutions. The transfer function of a closed loop system is
CONTROL SYSTEMS Chapter 5 : Root Locu Diagram GATE Objective & Numerical Type Solution Quetion 1 [Work Book] [GATE EC 199 IISc-Bangalore : Mark] The tranfer function of a cloed loop ytem i T () where i
More information