root locus1 - l:ri#t J':aJI o,..1!.,= * J+ lfornsdger...

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Unformatted text preview: l:ri#t J':aJI o,..1!.,= * J+ lfornsdger '-r"' olp LorrTporoLor I,. 11\ /:\ prapobionol Iro f ( l<p). (P). 'f.r| . t- \ (f) IritEroL (Ki). Deiivaotive. ( Ko) . (D) . PI - tA Z\^-; ci.,t"pJl+-r\ -J4eb-le intgrar-) (Propotiona\ * ' /r./-l )9.oi jr'-t-z FbrF.'i*..",tice .jadl;;lo Je v overshmt) I AOfiPtnA fc,fcor ) ( st*ay s'tote emrr ) g Ptgpe , T LJpu .r li) Lype t.PID , PD ;pr * Adc{rtik' ecntol'. ' * ArlfcioL Tidelt,Sbn.e- * Tolegrol t -lluun..,,latroo. -,.,i,,n,n.il-c *fr:,;1 *tr/{}i'. /_i_\ l- ,+ - Uerr vcit l';e : a ru{(crrnpl, tf:c;lldtion ! "Dislurb*nce) . modrn confroller TansFer ' q Coc,veritla-n I t-p . C"t, GnTroller v-' \-, -l)_1-.7 ,rr r) rt ;t_ -,. ., rgrt ' J firnction /r'ri-t (lJJ ) r(clejab J 3Lr-;; * [:f3 Jrt-,f rr tJtr ., {nt, W I \.^-e-pr. Process .} lgt_.-,1-o.-'9 t 't- - 5(s-+) L'l 't,F =l 5(5*+) * K faL elc, el-l-acTi on the rbof clcs = s(S-t+) -r K= o .r.,t b gif the 16;[5 s put Cl6. ,-<> l-rGt1 - G a.t\ l+ Gt{=o rK tt >\5-tt'{ = } 0 =* (s**r) -+ K s{*+ <+} orcorr,plex fqL L.,ith -we feel Art unstable O 3 ccses 5 CdSeS -ue is lsrnoll vol,ref ( ouer chmpin5 ) under ;I dominq sl-able -bprfu (^ \*_-/ CriticqL ct"npr13 (uostobls) oscittatog ..J* qf - K= c: 5Or*q = -3'4, -O:5 frt, * YoZ -Z : -2 tiz stoble tJst-er^ dF+ unsloble S3st*rn ; t)i{lrr!6ryg criti(,11 J)i(trrk:}a'1de t;* rl ""r{.;.1^.) ftlls cornplex i.rith -+ rael part i"e" n.tem :tab[. qnJ o& lloto5 osci d,q^oJi"5. Y"4 k ,'.r tlO.S. 2, ,*L,.5-,1.*.,-*f ' r --1-)" L_.r - t?o"s-. r}+cr _'*,-.,! \el6 = 1"-.^let6j.4 | 1hc.rl ,::tr-p;A*"*1i*r,*:L'3 'r' \-- -- I - 5 = 3. I 5 > 3., -' < 3' : o : \:./ r^ \3 : t t;d'a,..,ooasfs 3i-;":frlirl ai"'S ,.*jif *gpg6p*-Jl ndte.t-rt c,o L c;Al :-.r..a.i @ fs*"'J\ Pos '/- Jtri;;:z,;':' tgr ,F +rr"& n* U .s*,-:., sJ Mcrx alla*uable j K'o ll J, "j's."4p) Ss5 t< --"o-- K' K=o L;sj?+'Fdea)l , j!" ...
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root locus1 - l:ri#t J':aJI o,..1!.,= * J+ lfornsdger...

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