ME5659_CourseReview_SP10

ME5659_CourseReview_SP10 - 1 ME ME 5659 5659 : : Control...

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Unformatted text preview: 1 ME ME 5659 5659 : : Control and Control and Mechatronics Mechatronics (Dr. N. Jalili) (Dr. N. Jalili) End of Semester End of Semester Course Review Course Review 2 Important Properties of Laplace Transforms Important Properties of Laplace Transforms 3 ) ( ) ( ) ( ) ( y y t y t y ) ( ) ( . ) ( 1 1 ) ( 1 1 ) ( 1 1 ) ( 1 1 ) ( 1 ) ( 1 ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( 2 1 2 1 1 2 2 1 1 2 2 1 2 2 2 2 2 t Sin t Cos t y s L s s L s Y L s s s L s Y L s s s s Y L s s s s Y s s s Y s s s Y s Y s s Y s s Y t y L t y L t y L L t y L t y L t y t y L ) ( 1 . ) ( ) ( ) ( t t Sin t Cos t y Homogeneous ODE 4 Steady Steady-- State Error State Error A steady-state error is the difference between the input and the output for a prescribed test input as time approaching to infinite. In the Closed-loop system: Error = Input Output Output = (Closed-loop Transfer Function) x Input Error = (1 Closed-loop Transfer Function) x Input. Error/Input = (1 Closed-loop Transfer Function). 5 Steady Steady-- State Error for Unity Feedback State Error for Unity Feedback System System Using the Final Value Theorem: ] ) ( 1 ) ( [ lim )] ( [ lim ) ( s T s sR s sE E s s ] ) ( 1 ) ( [ lim ) ( s G s sR E s 6 Example 1 Example 1 Find the transfer function, Y ( s ) / R ( s ) 7 Example 2 Example 2 C ( s ) _ + + + R ( s ) G 4 G 1 G 2 H G 3 G 5 Find the transfer function, C ( s ) / R ( s ) 8 Example 3 Determine the transfer function Y ( s ) / U ( s ) 9 Transient Response and Steady-State Response Transient response + Steady-State response = System response c ( t ) = c tr ( t ) + c ss ( t ) Transient response, c tr ( t ) = the response goes from the initial state to the final state. Steady-State response, c ss ( t ) = the system output behaves as time approaches infinity. 10 at at at e a a t t h s s U e t h s s U e a t h s U a a s s H 1 1 ) ( : 1 ) ( Response Ramp 1 ) ( : 1 ) ( Response Step ) ( : 1 ) ( Response Impulse 1 : Constant Time 1 ) ( 2 FirstOrder System 11 Exponential Response for a UnitStep function input 12 UnitImpulse Response for a First Order System 13 UnitRamp Response of a FirstOrder System 14 Design Example 1- Determine the steady state error for a unit step input in terms of K and K 1 ....
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ME5659_CourseReview_SP10 - 1 ME ME 5659 5659 : : Control...

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