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Antenna Azimuth Position Control System
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Block diagram of Antenna Azimuth Position Control System
θi(s) θo(s)
G(s)
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
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Introduction
• Subsystems represented by a block with its input and output.
• We have learned how to find response of the subsystem.
• Complicated systems are represented by the interconnection
of subsystems.
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Components of a block diagram for a
linear, time-invariant system
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Common Topologies
for Interconnecting
Subsystems
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Cascade Form
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Loading in cascaded systems
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Parallel Form
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Feedback Form
R( s ) E ( s ) G ( s ) H ( s ) E ( s )
G( s)
T ( s)
1 G ( s) H ( s)
Simplified model
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Block diagram algebra
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Block diagram algebra for
summing junctions
Equivalent forms for
moving a block
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Examples
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Example 5.1
PROBLEM: Reduce the block diagram shown in
the Figure to a single transfer function.
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Example 5.1
(Solution)
a. collapse summing junctions
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Example 5.2
PROBLEM: Reduce the system shown in
the Figure to a single transfer function.
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Example 5.2
(Solution)
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Example 5.2
(Solution)
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Assignment
• Exercise 5.1
• Problems: 1, 2, 3, 4, 5, 6
Don’t submit
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Analysis and Design of
Feedback Systems
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Analysis and Design of
Feedback Systems
C (s) K ( s( s a)
T ( s)
R( s) 1 K ( s( s a)
K
T ( s)
s 2 as K
a a 2 4k a2
s1,2 for 0 K overdamped
2 2 4
a a2
s1,2 for K critically damped
2 4
a 4k a 2 a2
s1,2 j for K underdamped
2 2 4
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Example 5.3
Finding Transient Response
PROBLEM: For the system shown in the Figure, find the peak
time, percent overshoot, and settling time.
Tp ?; Ts ?; %OS ?
Solution
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T (s)
s 2 5s 25 Tp Tp 0.726 second
n 1 2
n 25 5
%OS e 1 2
100
%OS 1.6 seconds
2n 5
5
0.5 Ts
4 Ts 16.303
2n n
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Example 5.4
Gain Design for
Transient Response
PRO BLEM: Design the value of gain K for the feedback control
system, so that the system will respond with a 10% overshoot.
Solution
1 2 K
%OS e 100 10 T (s) 2
s 5s K 5
0.591
2 K
0.591 2n 5
n K K 17.9
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