ae Lecture , Tntreduckion Dr. Rarijak Bhowmick lat and Abert Th Classes Advanced Control Systems wh oy ferplare - flops 7s ot angler to cecbe op-lift 7 beg PK ection bo Creake pestsbance po lana sphere shed be destgned wets cateflly tn adel ane profs from Risk Contd Sysens ecist i hen -trineoriny fields as well. q: Body, Czomon.cs eke 7 Bekvaker) the tistrument whieh ackually ty the reason Sr bringing hawge In Ue | faster, (TE is already a Pe of machine) | henson Use oor ferdhack. AVthile. Geek Nl ta Actuator | Accelerator Actuxtor |) lonkol yk + Signal proceniyo Pegged 2 Reduce shaking [obrbins of Hitman bady AL adagere control doe seaes. Ce con oe aokiphee trade) ML Gtimtien_> (gyt Sik esGmalien 5:-Kelmen filles, . oo Weahe odapking o Recussve esbimebton. . ' leas syskins reputirey mathematic Techniques bo anclyse situsbio dank ib - tat fu makhermetizy | Pfebskic Surgery TF More ACCuRALy A Prec sion. | > Rigd body manipulator Ve Flexible manipulater - (On rove only'in 6 Een move tn any crreckion) E ¢ ru dvetions) - Vira covtrs) dawiees te bey entthquate vibrations be fome extenk~ The Contre! jn which mang agentr werk in a Synchroniied manner Ws said te Ke Co-operative Control. INES type of conbal be have Lenten s, followers ON ele absorb reduce accidents due to bad rivers. « . ~ Maen, problem > ALL the velicles bo mrove with sand las’ by and Prana, Orta jnbevebile’ distance. 6, . its Leckure-Z. 72 eatrlla Daryn ane: — Desrgn mth Gas ope Peformance Seecs vill be giveh'— Vacs sons Compe ator (In genern4) PIO ReWhok 0 the diffrence betwen Conkroller andl Compersator ? A) Cobrolletsy Gr hive naneeere Pelabive deste Grrpersakor-» Should hae gero RD PD-) Kea kys- flo Kr Ss Lead -leg Eorpersebor » RD =O ->? ey, ROQs nem ZY DNrdesree, dr degree Typa of Transfet function —) RDO —sBiprops 2)ROZ | 7 strictly prop IRD Ke —> Lnprepet, pales ok 2 9 Compersabor cant awe zero, pole - | wo Ta a conkmller, ff We trenk skeady shale braking, HOO" eae. Onkegred Conkrolle} : medbipl- stages — Buk In Compersekor We will gek shea take error.) We vse of cmpersekor be awed Hs error * bk by vate prkegral Conkrolles HE ray gk od gain ak sltady sake cose hs wad create problems with sbobilitys Zin this case, Comyersaker helps us. © Compwaaor would hase specific strueure and Confiurnkton bok ith open | iu Same cu Controller , : os - 4 _. n : Bsr &(I= es one) = SED Deargn reece (sinusoidal TF) ’ : - . . Objectives, 1) To stabilise: the plank ‘ 2) To meek the Barareh shake peeforman ces. transom Sees70 Foveshete Sebelrng Cine Pook: Hime Ee tos Eto, SSS EPESS 5 A) will 0, PL help skeabili< Gi, by -edly yy. ae ~—% + TeOGo with ‘COs Kp > Tes Poni 1) rot theble. bith" Hatyinallay Sheble Me aan use rook leas + checle it 4 of pole, 2ere Tf xadd TL cmtrllet, we wronit qek ony 2D e- Sebi GS) - | CDG») +9) Dor felt oe pt FE be ak sel to eB ‘ot peed PP conkralles herein ordey bo & Seen the stebility ' ransfet funckton of Magnetic fexitekion bots smile to Ga -[60° TE for Magnekte levikakion {5 G(s) =I > Cak gailen Trwetted ferdulum problems Gres) (548.025) (5-€-0?5) TRIM te tree rat Laci for iff devo lcakims of G3 (5. (Horexrerk) | ali Bro ok Sob ots Leckwe-3 | Stapility Study Dhak is he nation of Shability? os : 9 rarclate TE ve spel tome extemal fore on on objec and crcale Lame haope jr it position and than we vithdrmn the force. Tf object akteirs it's freviovs position then we can say it's Stable. - Est omc ~ re Rotel ra 0va eho be the force eripaturbakion aplitdl object won't face any charge In, Wis fol potion then Us said & be Stable. yt}. th detine Cheese patron for Small pettuthokion but charges dtself for jaqhet faewttckrn then 1G seid ty be Magginelly shale. oy it changes for ang peckucbekion then ith said bo be Unatedle. sly Bernat ren lt half i alte eaten lefe half plane then system jx soble’ ; a) Sf ve hore ten-vepened poles on inant er! then system Us Hetghelly able ty vepeaked EC gr’ ao o + nv Onsbeble, Wop tere 1 arg OL ple on Piphk-hub Hen its Unstable “Tok signe Norte shey, Ramp, 3) Pxp-decayry, Y)Sinuscidel, ) Oni Inpuloe fin - n CO fun 9 Sinrethal 3 A fun” which have 00 derrveckives: cy Mbt kt (re pe bed ili gD a Sen OLteroon Right Lilt Splene Hon system Trot effete by | i Opn lag seni Vs Closed Lane stebility:- TERN Mt Clnted lop shallbye me OLS dont Maly CLS+ Tt depeen type of feedback , f CLS deewit insply OLS: “OIE 4 ot crf» St ons clLy Be + bur siky eantle be decided. Ez Wt 5 ttre “CLT I WUpdmie egem Fragmpes sokms ove yeally diffi & wehse He FB 7 Veh th oscillakors« As we need wgetitire eukpuk: In tome cates we bate cont’ eneigy flow « RH RL, Bae,Nyy plt > Used for CLS- 7 Path Rawat ROS TL helps te bubricl the gean ak & repaired pom by uyny te. Heaistrae voukh anny.> When peadd a bro inked of Pe then phase Increases ‘Ayity lends bo higher the Playin ths sud’ velk in Wn rebbive stabil by aon hafpers Ve Fewgtse in Core of CH pole addsten. f hy, Bale J. [RY veep bo find beatin of rents hen gain Vesies from © be 0d: > Bede, ypu plot — Help for Freyuency response Wellp osednens issue’ When wie lose propetners off Sythe Upon Conver king into dlosed _ . a log pee say IE as wellpesednens issue -yaitths > Leckure-Ip ‘Rowkh- Husa 2 Techy ques — B2/a|4 3/60 as W a — LO Rt) v 1+ c(94()) Tram pes eb L che? 4 C(IG(D = 0 (2) TJ deeply (CO) Roukh arrey [El ’ on s ( s | s | coun eh pt fe Se ee Pew full tro os—_ : gy ICE JS esysy Lee 7. Lb pavbe of renthettay - G0 ye Can say Hare U Re stp govn frm Shes eff ¢ : aa hare a8 Ray pele om jo axils 3 eo = = 4 j) LEAS 3st 20 sese 24) s(edar Sep eee HE rane As ger ra) fs fee 4 ee Ne a “ A Ae 2 gp sty Charges =) 2 poles ae RH jit) Sp este ote y Bosses =o oy Whin wehae rovrof Beroes pecomstde derives of bore 7 yee fe tang auecilnty polyrenind P= QM bya” CO (Mabkiply caofft rmmree 3 oO é ey HOW 1 Ms foes eo : exer Porets Jando Bens 216 .. - 3 at 7 PEM 4G ght fR a. eS wer S _ nm flu Cay On) iS. Ga) (65) (Pais) §,,, For All eluays Come in odd ae eer pour} Dr powd rows. Lf Bre rw W 5 - hy < od petr—rocbs for odd degree polyransnds- : 2 . pel Books In Austra poly —5 ape In cyrmmekric feton,~) Conider Cs) = Kp Kx 4 C= = ,60- SARS Find reaye of pF se Hak CLS ts numbered, 4) 4CW)GG) = Grit GL . a py) Sree) a &s+ Ky) fe s(Sriore =e Ss (steie se Wout) < ia | (Hr 43102) | | S736 kp tDseke ee | [(—— Sets ke f 3 Ger 0 Ge) 0 a uy Te * phe ep lieth “Me . ek —F +Kp Ake Hy D0 oa aHTckyet, Bude Ep alert b22 ve otk t wh {Eee “¥ | f Rook Locus’ "+ @-@H> 0 Ce = be@nnld=o HG) ee SQ . ot = OHO cor catyro | peo), |- " cLecture-5 a a wore probs on RY L 5. & 2 aw (De SH osteo ests pry ssee 9 f 7 CSS of stare! oP (Ceiaise (Se) Calon (549 (9 + atgrllysbeble exked poles on imag A0ls ~ Vrubetle + Rods 2 G 2) i (sed Ge wifes of Chasacketnkic pelyranual': p(s) = 5 PE any Bang Ot apg SF | ve FAS PO oT fall rbd are ty LHS plane then system sr sbable =) This ts jut receney . Comditejon bub hot a Sef fick Condetion, Pbrathayh we hare all coefficients of Lome sign thartite ee : ela ae oly on left Lal «plone AAG ts suffrerick condition which heed pot ee fn eh renee 2 Atl bk cnvette > fr Ae ho real enn vale if AAT bub: tap uffreesemdtom bt if A howe tel Mid 5 ik heed ee hove Symmebric nakuere 4) GW= Legon ; Ne - 1.8 s (s) 1) Te she this ve have 2 ways — be erepanded - ces acenygse® Matin +e OE thyTade agree io ¢ Sar CE= sey 42 J- Sth ae ware Ct ste) a ase ee = Sa Or yo ct est — 2-ST wre _ Ypere 8 =I8 48 T 2-1) FE aI t + (an +56 cle “RG sfh 27 | . ¥ (ed 0-7) ST L 4 7 , sif2aX oo 24 7 nas a7 T Spe : o eT x v-T 7° —BMustion Con be framed ay nse RH we Ged Eley Heber be alowed. ¢ 1) Pads lecakion of- poler based en gain 2) Checkie stability based on K 3D) Cheeky margins wy) lamata mp piezaias be obtain skahiliby (| J We Hk ay ete rook boeuwy. PTE B val hen ve have tnbronn puters rongs dom ©9) | Sugeese , G()= En keke) HOH Dt aloes dr nije . J loop TF |B) Take Lop putea break ok ang pork and fod TE you sill gee Bon ies idiD= GW@HO. Lo) " & EO «db Crmenks y Lomebisone Bren Hough ve uve LOS) for Rook Lecey, we get conchaters or thud leg stobility of System only | . Gs) = i l= eaten » HO=l. 7 A) Sled Pate oL plo, Kroes : 7 Sete Neve branches of RU = Ne of poles ~~ when PE (pry) = Ne of Ze04 hen Boh (GETY critetns pote af brenche ps volt of If (HE) 0 & Keo ~9 pols f Hin Keod gk Atminaticy pom. (Bro beaten) Sta3ir Nee of caympboles = ~-2 ae Sader A pore om will be in RL of ne vef pandgeroaren (05 righ _ side is oad : cat -tes Shp '- heel are ln is cUed —— — Breaking f pore 5 Breakin pomt —y _ nN je breakeaweg 7 ; - yO leckne 6 MY gle of arattoker5 Jaa Bee) I, Kooy? borg . Me SE ee £ a(S pbst es 6 dind breaking k IVa | = | Tate OL 2 een) = SUS 55 “ oe Pe see = : ” a_.Kz -S Pays i Gs Ges :Orly, 0-45 a fark of RL TE BP break amey prd - sheet Ve need te find the criltel gon k be gek porkof pteueckin -of RL hh ‘anis Use RA onary i 7 a K US 0 —) Rew of ero to Gk aunliary polportel Ss > [Keel es 2 sek =e ase-3 jlo od | Sheps Gan ton fa veh of K af ach tag rea ’ a. ak yense of sbability Keribred : gana See Be, Fee | Geilin ab) 2 Gain Moegeh leg, (He) oe ete TE Be 6O S(60d Sys) 0 —6-2-4—0 = os as La IE sms n> foo ~ Ke AL gg 3 . a 2 x Q ioe ” 5 ays Ths a -YWis 3 $5 28 tap retg — — oly AooS£ 1289 § sd Le wally Compan otal ngabet brake oooyfn spars doesnt ocauy bub we rey te WSP yer Th fale Seto Neale lem pod ane of ceptors £2 dram RL from Gomlen rods, Abe = ~ le of for ramaining poe ss feesp ” 185 — (ore of emtrtes from voaring pe) oe, i | zie — ($44 tq) ~ |to— (tx! 4 + dobry +19) | = Pye sand angle of arrival cgi ole eee # pies “yf there 15 0 comple Zero 9 We get angle of arriad - Jo(oe —K =) Gr JGO= S$ G46) (8445413) , : . iti) 6= a 5 (sey) Feuse) & aa . vay pork | 98 2 Toe aoa) (H4)) ve AC (chy ate 2ac4s25 ) ons{ . : Fh the previas of ne cant hele comglen BM point Buk here ww nerd BA ports ak corgler Conjugate partons a4 wel >To chéck BA perk is prevent th AL er) att then we Mag. crsterich Ja(onld,,,> Kes = 1Y625 based an RH bebe Gere vow bechesps) FC = RSD enadls on Yaris (vos of aupitiany ey) bac = 18 - (24-0) / zie baat 2 + bast 2 198 9 = -40 AR break-awey pe ak oo owe gtk firdink to be an wy ape KEW Ge ) @lsd= Gey j i | Kau) 4 84 = t (i Kez G)Gen . 5 | Soy s dk wn) a) +0) ed vat va Ftus” we 85-8 wi) 28| heli = 1% — teddy tty “ rie HAE tye 9 oS be = lw Mae E2498 as, = (8) oe { kak oR? 2 {cco ne] =) 2 ke (2) Ss _ Sty y : (Ke _2:204 One proven ~ 1 Gri F aban fort's op Find GMs PM for Kole ) b= eat ‘ ao 9 g= Ha 9 OS YO eee oats Leckure-8 3 Few move Rie prblem Gud TH multiple branches (72) breakaway ak pein then hau b> onabgse? nc TE CO bes = Laeger p THY Ye con wte aypree Tas p ee THE “ ¢ < Loni, 4 Sly & (Se2) , : Rte EBS loot_ Me FE wikh -ve signed L(s) = -+ve Fe. Ns Lecture Nayut OE fo: 4 poser x oe hy's Conformal Magpiny 2) binazle of Arqumank ee tm ble plana, GHD plane y)Peltive stabilrty of Tee nether “mypler ple. ores == fielty A cones ‘ e EE an) f+? > Re Lay TFOLE)= GOH » 1) Closed bac ei © 4 a) Relekive skebiliby (Geil flee Gorkrllt au, tedkerhe ce 76 » 3) Hs con ww Comperscke effects dw poles close. to Imag aniver) oni on PHS? magni, Bete sApeleg fe i Bed Ny ok pit 5 Soak vith LO, Finably wech CL shetty He went bag be rd CL TR because cpr ecar ge ep his odes. its feckure 10 . Take nom, Suppose GON =" k(is2)--- G#2e) Gsp)i-- G+ ph) Gf)... (Shy) + (ees) 67%) pedometer a Gep,)- — City) = 2)... (42) cia degen” 640). — etn) Pret of te cic GG)HI. : , HH GG)ul) | Hae te map Spline to HLPQOED plone | Sst cabled Q(5) plone 22, BS YGO WO a WOH = ES ‘ wh N i . | wont pe fle brs (GOW) ela) . als)=25. 95 o- Iq 7 phay=3 4%) =24) by =5 ¢ = Ms ~ ti WH 4,9) Spe, 268) = feed l#@(9HW= CLTF aL)Trin by curves mak: strniphe lines. Tf encivclemerE my (5) Plone of origin is CCW Then it Bdueboon unable pole. x) 6 = = 1 Hi9=4 gs Le - ws so ~ (o') tu ae e (ict 6) meth Yd } ee a ee ee ¢ : 2 GOD . He ga) = os VP aby) 2 vdejru > = () = 128 z(osy) GeX2d) _.. 4+) v Le 24) = Ss sot tes | ide Cant caledabe all Hse valhis pier I orday, bik ifordes trerense Cold ion becomes complens, HE use ouypnp tot C gles fo draw Ny qakp es: mothe maspitg uth we did ix cabled Backsrond of Nyquat let TF tayping technique vied 1s drolpwan tad by be Guchy’s Conformal mapping Br 9) 4G) < so Hide) Whe te qO= CD pd, TARE RR ‘ex a Ga)els yo) = > GS ctroeWye 2-7 ere ae LG)= = =) ‘ “ a (%)~ Shu ea Up = rete — Gyplee — a fa ° fe . 5 coh —f- -? —s CCH(Ho) gilcow cea’: Sn Cae 2 24 Gi= ea us > a (dMes = | OP 3H a 2(to45)4 BH G3) 1-435 | gras a Sap ols) = “ie ui)= eet 4a) = + UH = aA set = oth —2tyfl -l4 qly- 2A we e008 pd 2 7to oy the poe encrdomels jet epnd on hob tl rss Gaston Corks > In cose of Nyquise ple Cy He we Conkours covering only RUS perradpole because they only lead t unstediliky skandasd Neat pe wertira: We wye a dthaped Gorbrud 4! Jnfinike length ofp Gort? and -radies of semard yn item is R unich bends te of pe poluen Bet onyari) Cre Tf there are ary poles 67 Bers then ve vie a Smell Ene areend plese aeretSone > =) For drnuating Nyy plete hide dented Into? pasts DD Sesment ateg ani 9 © Won or RHS = Re} vibe e I96 by Sly ded ; ME (0 J4 foe i eo . dU Som ey Jrquoril ap @ of caleaalrion th baGonts> —) By wis 49-) we Can veduce proble Lek (Ty, corte). B> Th even thaws samme reponse ad 7 Pi