Essentials of Control Techniques and Theory 5 docx

... too. 91239.indb 133 10/12/09 1:43 :52 PM II ESSENTIALS OF CONTROL THEORY WHAT YOU OUGHT TO KNOW 91239.indb 131 10/12/09 1:43 :51 PM 136 ◾ Essentials of Control Techniques and Theory there are many more ... right-hand side, we have already worked out that   L{} ,5 5 e sa at− = + so   ()() () () ,sXssxx sa 2 100 5 +−−= +  91239.indb 142 10/12/09 1:44:10 PM 128 ◾ Esse...

Ngày tải lên: 21/06/2014, 13:20

... 24 Variables change, 55 matrix state equation in vector, 56 57 second order differential equations for, 56 single matrix equation, 56 transformation of, 56 Variable structure control, 75, 182–183 Vector ... frequencies, 156 curved ladder of, 154 – 155 diagrams, 6 with M-circles, 151 with higher gain and, 152 Whiteley plot and, 159 O Observability, 227–231 Octaves, 88–89 O...

Ngày tải lên: 21/06/2014, 13:20

... PM 108 ◾ Essentials of Control Techniques and Theory Now we propose to apply discrete feedback around the loop, making u(n) = –k x 1 (n), and so we find that xn xn xn 1 2 1 1 1 100 95 009 05 () () . . (+ +       =       )) () . . () xn a a k xn x 2 1 0 ... the eigenvalues, and choose a suitable value for k. e determinant gives us det , 100 05 0 0 95...

Ngày tải lên: 21/06/2014, 07:20

... pinch of salt. 91239.indb 129 10/12/09 1:43 :51 PM II ESSENTIALS OF CONTROL THEORY WHAT YOU OUGHT TO KNOW 91239.indb 131 10/12/09 1:43 :51 PM 142 ◾ Essentials of Control Techniques and Theory Integrating ... velocity. vdem=c*(command-x) if(vdem>vlim){vdem=vlim;} if(vdem<-vlim){vdem=-vlim;} and a new expression for tiltdem tiltdem=d*(vdem-vest); We add definitio...

Ngày tải lên: 21/06/2014, 07:20

... Transducers 44 4 .5 A Control Experiment 46 5 Adding Control 49 5. 1 Introduction 49 5. 2 Vector State Equations 49 5. 3 Feedback 52 5. 4 Another Approach 53 5. 5 A Change of Variables 55 5. 6 Systems with ... 10/12/09 1:40: 45 PM Essentials of Control Techniques and Theory 91239.indb 1 10/12/09 1:40:29 PM This page intentionally left blank 6 ◾ Essentials...

Ngày tải lên: 21/06/2014, 07:20

... and input magnitude, and a phase shift. –1 4j –1 2j –1 0j –1 –2j –0 .5 4j –0 .5 2j –0 .5 0j –0 .5 –2j 0 –2j 0 .5 –2j 1 –2j –1 –4j –0 .5 –4j 0 –4j 0 .5 –4j 1 –4j 0 4j 0 .5 4j 1 4j 1 2j 1 0j 0 .5 2j 0 .5 ... PM 78 ◾ Essentials of Control Techniques and Theory 7.2 Sine-Wave Fundamentals Sine-waves and allied signals are the tools of the trade of classical contro...

Ngày tải lên: 21/06/2014, 07:20

... www. esscont.com/11/ladderfreq.htm and www.esscont.com/11/ladder.htm) 91239.indb 155 10/12/09 1:44:33 PM 156 ◾ Essentials of Control Techniques and Theory implying from the theory of complex functions that ... 10/12/09 1:44 :53 PM 152 ◾ Essentials of Control Techniques and Theory In Figure 11 .5 we see that the Nyquist plot now sails rather closer to the cri...

Ngày tải lên: 21/06/2014, 07:20

... apart to see what the system is made of. Maybe we can get the best of both worlds. 91239.indb 2 15 10/12/09 1: 45: 54 PM 202 ◾ Essentials of Control Techniques and Theory it can be rearranged as    xxxxu 3321 342+++= is ... τ 3 ) Figure 15. 4 Superposition of impulse responses. 91239.indb 208 10/12/09 1: 45: 44 PM 228 ◾ Essentials of Control Techniques and Th...

Ngày tải lên: 21/06/2014, 07:20

... 10/12/09 1:46 :54 PM 244 ◾ Essentials of Control Techniques and Theory and added a controller with state z, where  zKzLyMv=++ We apply signals from the controller dynamics, the command input and the ... 254 ◾ Essentials of Control Techniques and Theory 18 .5 Some Properties of the z-Transform If we have a sequence of which the z-transform is X(z), the tra...

Ngày tải lên: 21/06/2014, 07:20

... = τ Figure 19 .5 Mapping between the z and w-planes. 91239.indb 2 75 10/12/09 1:47 :58 PM 258 ◾ Essentials of Control Techniques and Theory where the components of x are position and velocity. (Here ... 1:48:00 PM 276 ◾ Essentials of Control Techniques and Theory w z z = − + 21 1τ from which z w w = + − 2 2 τ τ and finally the z-plane poles and zeros...

Ngày tải lên: 21/06/2014, 07:20