lecture_17

# lecture_17 - MIT OpenCourseWare http/ocw.mit.edu 2.004...

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Unformatted text preview: MIT OpenCourseWare http://ocw.mit.edu 2.004 Dynamics and Control II Spring 2008 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms . a s + a s + . . . + a s + a n n n - 1 n - 1 1 b s + b s + . . . + b s + b m m m- 1 m- 1 1 U s Y s a s + a s + . . . + a s + a n n n - 1 n - 1 1 b s + b s + . . . + b s + b m m m- 1 m- 1 1 U s Y s 1 X s a s + a s + . . . + a s + a n n n - 1 n - 1 1 b s + b s + . . . + b s + b m m m- 1 m- 1 1 U s Y s 1 F s Massachusetts Institute of Technology Department of Mechanical Engineering 2.004 Dynamics and Control II Spring Term 2008 Lecture 17 1 Reading: • Nise: Chapter 4 1 System Response Our systems are • Linear and Time-Invariant (LTI), that is they are linear, and their properties do not change with time, and • are Single-Input Single-Output (SISO). and are usually represented by a transfer function which is equivalent to an ordinary differential equation (ODE) with constant coeﬃcients. dy n dy n − 1 dy du m du m − 1 du a n dt n + a n − 1 dt n − 1 + ... + a 1 dt + a y = b m dt m + b m − 1 dt m − 1 + ... + b 1 dt + b u where the coeﬃcients are determined by the system components....
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lecture_17 - MIT OpenCourseWare http/ocw.mit.edu 2.004...

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