Essentials of Control Techniques and Theory 5 docx

... 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...

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... 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