EE 422G Notes: Chapter 6 Instructor: Zhang

Chapter 6 Applications of the Laplace Transform

Part One: Analysis of Network (6-2, 6-3)
1. Review of Resistive Network
1) Eleents

2) !"#er#osition


Pa$e 6-1
EE 422G Notes: Chapter 6 Instructor: Zhang
3) %&' an( %)'

*) E+"ivalent )ir,"its

Pa$e 6-2
EE 422G Notes: Chapter 6 Instructor: Zhang
-) No(al Analysis an( .es/ Analysis
.es/ analysis

'

+ +
+ +
2 2 * 1 1 1
2 1 3 2 1 2 1 1 1
) ( ) (
S S
S
V I R I R V
I I R I I R I R V
!olve for I
1
an( I
2
.
2. )/ara,teristi,s of 0ynai, Network
0ynai, Eleents O/1s 'aw: ineffe,tive
1) 2n(",tor
2) )a#a,itor
Pa$e 6-3
EE 422G Notes: Chapter 6 Instructor: Zhang
3) E3a#le (Pro4le -.5):
6/y so si#le7 Al$e4rai, o#eration8
0ynai, Relations/i#s (not O/1s 'aw) )o#li,ate t/e analysis
9sin$ 'a#la,e :ransfor

) ( ) (
1
) ( ) (
) (
) ; ( ) ( 1
)) ; ( ) ( ( )< ( = ) (
) 1 (
s RI s I
Cs
s I Ls
s RI
s
i
s
s I
C
i s sI L t L s V
s
+ +
+
1
]
1

+ +

0efine >?enerali@e( Resistors1 (2#e(an,es)

Ls s Z ) (
1

Cs
s Z
1
) (
2


R s Z s Z
s V
s I
s RI s I s Z s I s Z s V
s
s
+ +

+ +
) ( ) (
) (
) (
) ( ) ( ) ( ) ( ) ( ) (
2 1
2 1
As si#le as resistive network8
!ol"tion #ro#ose( for (ynai, network:
Pa$e 6-*
EE 422G Notes: Chapter 6 Instructor: Zhang
All t/e (ynai, eleents 'a#la,e :rans. .o(els.

analysis es/ an( analysis No(al

,ir,"it E+"ivalent
%)' an( %&'
ion s"#er#osit
'aw O/s ( ?enerali@e
As Resistive Network
%ey: 'a#la,e transfor o(els of ((ynai,) eleents.
3. 'a#la,e transfor o(els of ,ir,"it eleents.
1) )a#a,itor

2#ortant: 6e ,an /an(le t/ese two >resistive network eleents18
2) 2n(",tor
Pa$e 6--
EE 422G Notes: Chapter 6 Instructor: Zhang
3) Resistor V(s) = RI(s)
*)!o"r,es

-) ."t"al 2n(",tan,e (:ransforers)
(ake s"re 4ot/ i
1
an( i
2
eit/er away
or towar( t/e #olarity arks to ake
t/e "t"al in(",tan,e M #ositive.)
)ir,"it (not transforer) for:
Pa$e 6-6
EE 422G Notes: Chapter 6 Instructor: Zhang

dt
di
M L i i
dt
d
M
dt
di
M
dt
di
L
dt
di
M
dt
di
M t v
i i
dt
d
M
dt
di
M L
dt
di
M
dt
di
M
dt
di
M
dt
di
L t v
2
2 2 1
2 2
2
2 1
2
2 1
1
1
2 1 1 1
1 1
) ( ) (
) (
) ( ) (
) (
+ +
+ +
+ +
+ +

Pa$e 6-A
EE 422G Notes: Chapter 6 Instructor: Zhang
Benefits of transfor

'et1s write t/e e+"ations fro t/is
,ir,"it for:
:/e
!ae
'a#la,e transfor o(el: O4tain it 4y "sin$ in(",tan,e o(el

C"st >so"r,es1 an( >$enerali@e( resistors1 (i#e(an,es)8
*. )ir,"it Analysis: E3a#les
%ey: Ree4er very little, ,a#a4le of (oin$ a lot
Dow: follow yo"r int"ition, resistive network
>'ittle1 to ree4er: o(els for in(",tor, ,a#a,itor an( "t"al in(",tan,e.
E3a#le 6-*: Ein( Norton E+"ivalent ,ir,"it
Pa$e 6-F
EE 422G Notes: Chapter 6 Instructor: Zhang

Ass"#tion:
; ) ; (

c
v
GReview of Resistive Network
1) s/ort-,ir,"it ,"rrent t/ro"$/ t/e loa(: s
I
2) E+"ivalent 2#e(an,e or Resistan,e s
R
or s
Z
:
A: Reove all so"r,es
B: Re#la,e
L
Z
4y an e3ternal so"r,e
): )al,"late t/e ,"rrent $enerate( 4y t/e e3ternal so"r,e >#oint a1
0: &olta$e H )"rrent s s
Z R
G!ol"tion
1) Ein( sc s
I s I ) (


3
2
) ( 2
3
1
) (
) (
3
) ( )
3
1 (
1
) ( 3 1 ) (
1
+

+

+
+ +
s
s I I
s
s I
s I
s
s
s I
s s
s I s I
s
sc
2) Ein( s
Z
Pa$e 6-5
EE 422G Notes: Chapter 6 Instructor: Zhang
,on(ition: 1 ohm = 3/s
or I(s) = 0
=>I(s) = 0 =>Zs =
3)

E3a#le 6--: 'oo# Analysis (in,l"(in$ initial ,on(ition)
I"estion: 6/at are i
;
an( v
;
7
6/at is
) (t v
c 7
!ol"tion
1) 'a#la,e :ransfore( )ir,"it
Pa$e 6-1;
) ( 2
) (
s I
s V
Z
test
s

) (
3
) ( ) 1 (
;
) ( 3
1 ) (
s I
s
s I
s
s I
s I

,
_

+
&test(s)
(6ill 2(s) 4e @ero7 6e (on1t know yet8)
6/y t/is (ire,tion7
a
Z
L
EE 422G Notes: Chapter 6 Instructor: Zhang


2) %&' E+"ations

'

+ + +
+
+ + +
) ( ) ( ( )) ( ) ( (
1
)) ( ) ( (
1
)) ( ) ( (
) ( )) ( ) ( )( ( ) ( ) (
;
3 ) * 3 3 2
;
3 2 2 1 2
; 2 1 2 1 1
s V
s
v
s I R R s I s I
Cs
s
v
s I s I
Cs
s I s I R
Li s V s I s I R s I Ls R
C
s
2#ortant: !i$ns of t/e so"r,es8
3) !i#lifie( (!tan(ar( for)
) ( ) ( ) ( ) ( s V s E s I s Z +
1
1
1
1
1
1
]
1

+
1
1
1
]
1

1
1
1
1
1
1
]
1

1
1
1
]
1

1
1
1
1
1
1
]
1

+ +
+
+ +
s
v
s
v
Li
s V
s V
s V
s
v
s
v
Li s V
s I
s I
s I
R R
Cs Cs
Cs Cs
R R
R Ls R R
C
s
C
s
;
;
;
;
;
;
3
2
1
* 3
2 2
2 2 1
) (
;
) (
) (
) (
) (
) (
) (
1 1
;
1 1
;
6.4 Transfer Functions
1. 0efinition of a :ransfer E"n,tion
Pa$e 6-11
6/y t/is (ire,tion7
EE 422G Notes: Chapter 6 Instructor: Zhang
(1) 0efinition

'

volta$es. ,"rrents, Bran,/ : e3a#les 0etails, : analysis ()ir,"it) Network

4lo,ks. "sin$ o"t#"t, an( in#"t 4etween i# relations/ E#/asi@e : analysis !yste

!yste analysis: Dow t/e syste #ro,esses t/e in#"t to for t/e o"t#"t, or
2n#"t : varia4le "se( an( to 4e a(J"ste(
to ,/an$e or infl"en,e t/e o"t#"t.
)an yo" $ive soe e3a#les for in#"t an( o"t#"t7

I"antitative 0es,ri#tion of > /ow t/e syste #ro,esses
t/e in#"t to for t/e o"t#"t1: :ransfer E"n,tion D(s)
(2) in#"t
:/e res"ltant o"t#"t y(t) to (t) in#"t: "nit i#"lse res#onse
2n t/is ,ase: X(s) = L [ (t) = 1
!(s) = 'a#la,e :ransfor of t/e "nit i#"lse res#onse
KL "(s) = !(s)/X(s) = !(s)
:/erefore: 6/at is t/e transfer f"n,tion of a syste7
Answer : 2t is t/e 'a#la,e transfor of t/e "nit i#"lse res#onse
of t/e syste.
(3) Ea,ts on :ransfer E"n,tions
G 2n(e#en(ent of in#"t, a #ro#erty of t/e syste str",t"re an( #araeters.
G O4taine( wit/ @ero initial ,on(itions.
()an we o4tain t/e ,o#lete res#onse of a syste 4ase( on its transfer
f"n,tion an( t/e in#"t7)
Pa$e 6-12
EE 422G Notes: Chapter 6 Instructor: Zhang
G Rational E"n,tion of s ('inear, l"#e(, fi3e()
G D(s): :ransfer f"n,tion
"( #2$ ) or "( # ): fre+"en,y res#onse f"n,tion of t/e syste
(Re#la,e s in "(s) 4y #2$ or #)
M"( #2$ )M or M"( # )M: a#lit"(e res#onse f"n,tion
"(#2$) or "( # )% P/ase res#onse f"n,tion
2. Pro#erties of :ransfer E"n,tion for 'inear, '"#e( sta4le systes
(1) Rational E"n,tion of s
'"#e(, fi3e(, linear syste KL

) (
) (
...
...
) (
;
1
1
;
1
1
s &
s '
( s ( s (
) s ) s )
s "
*
*
*
*
m
m
m
m

+ + +
+ + +

)orres#on(in$ (ifferential e+"ations:

) ( ...
) ( ) (
) ( ...
) ( ) (
;
1
) 1 (
1
) (
;
1
) 1 (
1
) (
t + )
dt
t + d
)
dt
t + d
)
t , (
dt
t , d
(
dt
t , d
(
m
m
m
m
m
m
*
*
*
*
*
*
+ + +
+ + +

(2)

#
#
)
(
all real8 6/y7 Res"lts fro real syste ,o#onents.
Roots of N(s), 0(s): real or ,o#le3 ,onJ"$ate #airs.
Poles of t/e transfer f"n,tion: roots of 0(s)
Neros of t/e transfer f"n,tion: roots of N(s)
E3a#le:
1 , 2 :
) 1 )( 2 ( ) ( ) 1 3 ( ) (
2

+ + > + +
-o.es
s s s & s s s &
(3) "(s) = '(s)/&(s) of 4o"n(e(-in#"t 4o"n(e(-o"t#"t (B2BO) sta4le
syste

G 0e$ree of '(s) 0e$ree of &(s)
6/y7 2f (e$ree '(s) L 0e$ree &(s)

) (
) ( O
... ) (
; 1
s &
s '
c s c s c s "
/
/
+ + + +
w/ere (e$ree N(s) P(e$ree 0(s)
Pa$e 6-13
EE 422G Notes: Chapter 6 Instructor: Zhang
9n(er a 4o"n(e(-in#"t +(t) = 0(t) => X(s) = 1/s

... ) ( ... ) (
) (
) ( O
... ) (
1
;
1
1
+ +
+ + + +

t c t ,
s s&
s '
s
c
c s c s !
/
/

(
) (t
not 4o"n(e(8)
G Poles: "st lie in t/e left /alf of t/e s-#lan (l. /. #)
i.e.,
; ) Re(
) )...( )( ( ) (
2 1
<

#
*
s s s s &

6/y7

...
)8 1 (
...
...
)8 1 (
... ) (
) ...(
) (
... ) (
1
1
+

+
+

+
+ +

t #
t
/
#
t
/
#
# #
/
#
#
e e
/
t 1
e
/
t 1
t ,
#
s
1
s !
#
#

()an we also in,l"(e kK1 into t/is for7 Qes8)

;
; tan
; ; M M
M MM M
fi3e( M: M , 1 M M : .a$nit"(e
1
)8 1 (
1
>

<

#
#
#
t
#
t
t #
#
t #
t
#
#
t #
t #
t
#
t #
t
/
#
t co*s
e 1
e e 1 e e 1
1 e
e e 1 /
e e
/
t 1
#
# #
#
#

G Any restri,tion on @eros7 No (for B2BO sta4le syste)

3. )o#onents of !yste Res#onse
) ( ...
) (
) ( ...
) (
;
) (
;
) (
t + )
dt
t + d
) t , (
dt
t , d
(
m
m
m
*
*
*
+ + + +
Be,a"se 3(t) is in#"t, we ,an ass"e

; ) ; ( ... ) ; ( ) ; (
) 1 ( ) 1 (

m
+ + +
'a#la,e transfor of t/e (ifferentional e+"ation
Pa$e 6-1*
0(s)
)(s)
N(s)
EE 422G Notes: Chapter 6 Instructor: Zhang

) ( ) (
) (
) (
) (
) (
) (
) (
) (
) ( or
) ( ) ( ) ( ) ( ) (
) ( < ... =
) (
) ; ( ) (
...
) ; ( ... ) ; ( = ) (
) ; ( ... ) ; ( ) ; ( = ) (
;
1
1
;
1 1
) 2 ( 2
1
1
1
) 1 ( ) 1 ( 2 1
s X s "
s &
s C
s X
s &
s '
s &
s C
s !
s X s ' s C s ! s &
s X ) s ) s )
s ! (
, ( s s! (
, , s ( s ! s (
, , s , s ( s ! s (
m
m
m
m
* *
*
*
*
* * *
*
*
*
+ +

+ + +
+
+
+
+ + +
+ + +

0(s): !yste #araeters
)(s): 0eterine( 4y t/e initial ,on(itions (initial states)
2nitial-!tate Res#onse (2!R) or Nero-2n#"t Res#onse (N2R):

1
]
1

) (
) (
) (
1
s &
s C
L t ,
2i3
Nero-!tate Res#onse (N!R) (("e to in#"t)
)< ( ) ( = ) (
1
s X s " L t ,
2s3

Ero anot/er #oint of view:

:ransient Res#onse: A##roa,/es @ero as tR
Eor,e( Res#onse: !tea(y-!tate res#onse if t/e for,e(
res#onse is a ,onstant
Dow to fin( (1) @ero-in#"t res#onse or initial-state res#onse7 No #ro4le8

1
]
1

) (
) (
1
s &
s C
L
(2) @ero-state res#onse7 No #rol4e8
)< ( ) ( =
1
s X s " L

Dow to fin( (1) transient res#onse7 All ters w/i,/ $o to ; as t

(2) for,e( res#onse7 All ters ot/er t/an transient ters.
E3a#le 6-A
2n#"t
) (t v
s
O"t#"t
) ( ) ( t v t ,
R

2nitial ,a#a,itor volta$e: ;

v
Pa$e 6-1-
EE 422G Notes: Chapter 6 Instructor: Zhang
RC = 1 se,on(
So.0tio*
(1) Ein( total res#onse

) (
1 1
) (
H 1 H 1
) (
1 H 1
1
1 H 1
H
) (
H 1 H 1
H
H 1
H ) (
) (
;
1
;
;
;
;
s V
s
s
s
v
s V
s CR
s
s CR
v
s V
CRs CRs
s v
s V
R Cs
R
R Cs
s Rv
R
R Cs
s v s V
s !
s
CR
s
s
s
s
+
+
+

+
+
+

+
+
+

+
+
+

+

(2) Ein( @ero-in#"t res#onse an( @ero-state res#onse

Nero-in#"t res#onse:
) (
1
;
; 1
t 0 e v
s
v
L
t

1
]
1

Nero-state res#onse:

) ( < 2 sin 2 2 ,os * =
*
2
2
1
*
*
1
1
*
-
1
) (
1
2 2
1
2
1 1
t 0 t t e
s s
s
s
L
s
s
s
s
L s V
s
s
L
t
s
+
1
]
1

,
_

+
+
+

1
]
1

,
_

+ +

1
]
1

(3) Ein( transient an( for,e( res#onse

) ( ) 2 (sin 2 ) ( ) 2 (,os * ) ( ) ( ) (
;
t 0 t t 0 t t 0 e t 0 e v t ,
t t
+ +

6/i,/ ters $o to @ero as t7

) ( ) ( ) (
) ( ) (
;
;
t 0 e t 0 e v t ,
t 0 e (*d t 0 e v
t t
t3(*sie*t
t t


+

6/at are t/e ot/er ters:

) ( ) 2 sin 2 2 ,os * ( ) (
) ( ) 2 (sin 2 ) ( ) 2 (,os *
t 0 t t t ,
t 0 t (*d t 0 t
$o3ced

*. Asy#toti, an( .ar$inal !ta4ility

!yste: (1) Asy#toti,ally sta4le if
;
2i3
,
as t (no in#"t) for all
#ossi4le initial ,on(itions, ,(0)4 ,5(0)4 6 ,
(*71)
(0)
2nternal sta4ility, /as not/in$ to (o wit/ e3ternal in#"tHo"t#"t
(2) .ar$inally sta4le

M ,
2i3
M
all tL; an( all initial ,on(itions
Pa$e 6-16

EE 422G Notes: Chapter 6 Instructor: Zhang
(3) 9nsta4le

2i3
,
$rows wit/o"t 4o"n( for at least soe val"es
of t/e initial ,on(ition.
(*) Asy#toti,ally sta4le (internally sta4le)
KL"st 4e B2BO sta4le. (e3ternal sta4ility)
6-5 Routh Array
1. 2ntro(",tion

!yste "(s) = '(s)/&(s) asy#toti,ally sta4le all #oles in .8h8- (not
in,l"(e #9 a3is.
Dow to (eterine t/e sta4ility7
Ea,tori@e 0(s):

; ) Re(
) )...( )( (
... ) (
2 1
; 1
1
1
<

+ + + +

#
*
*
*
*
(.. st().e
s s s
( s ( s ( s s &

Ot/er et/o( to (eterine (J"st) sta4ility wit/o"t fa,tori@ation7
Ro"t/ Array
(1) Ne,essary ,on(ition
All
; ) 1 ,... 1 , ; ( > * # (
# (w/en
1
*
(
is "se()
any
; ; <
# #
( o3 (
KL syste "nsta4le8
6/y7
0enote
; ) Re( >
# # #
- -
to esn"re sta4ility
Pa$e 6-1A
EE 422G Notes: Chapter 6 Instructor: Zhang

*
#
#
* *
*
*
*
- - - s
*7
s -
s -
s s - - - s
- s - s - s s &
...
tie a at 1 taken
O of #ro(",ts of s"
...
tie a at taken two
O of #ro(",ts of s"
) ... (
) )...( )( ( ) (
2 1
2 1
2 1
2 1
+

,
_

+ +

,
_

+ + + +
+ + +

6/en all Re(-
#
) > 0 , all ,oeffi,ients "st 4e $reater t/an @ero. 2f soe
,oeffi,ient is not $reater t/an @ero, t/ere "st
4e at least a Re(-
#
) := 0 (i.e.,
; ) Pole Re( ) Re( #
#

)
KL syste "nsta4le
(2) Ro"t/ Array
I"estion: All
; >
#
(
i#lies syste sta4le7
Not ne,essary
C"($e t/e sta4ility: 9se Ro"t/ Array (ne,essary an( s"ffi,ient)
2. Ro"t/ Array )riterion
Ein( /ow any #oles in t/e ri$/t /alf of t/e s-#lane
(1) Basi, .et/o(
;
1
1
... ) ( ( s ( s ( s &
*
*
*
*
+ + +

Pa$e 6-1F
EE 422G Notes: Chapter 6 Instructor: Zhang
Eoration of Ro"t/ Array
N"4er of si$n ,/an$es in t/e first ,ol"n of t/e array
KL n"4er of #oles in t/e r. /. #.
E3a#le 6-F
-6 *1 1* ) (
2 3
+ + s s s s &
si$n: )/an$e( on,e KLone #ole in t/e r./.#
verifi,ation:

) F )( A )( 1 (
-6 *1 1* ) (
2 3
+ +
+ +
s s s
s s s s &
E3a#le 6-5
1 1; - ) (
2 3 *
+ + + + s s s s s &
Pa$e 6-15
EE 422G Notes: Chapter 6 Instructor: Zhang

1
; 1-
1 1
1; -
1 1 1
1
;
2 1
1
2 1
2
3
*

d s
c c s
) ) s
s
s
1
1-
; ) 1 ( 1 1-
;
1
; - ; 1
1-
1
1 - 1; 1
1
-
; 1 1 -
1
-
1; 1 1 -
1
2
1
2
1

d
c
c
)
)
!i$n: ,/an$e( twi,e KL two #oles in r./.#.
(2) Modifications for zero entries in the array
Case 1: First element of a row is zero
replace 0 by (a small positive number) S
Example 6-10
3 ) (
2 3 *
+ + + + s s s s s &
Case 2: whole row is zero (must occur at odd power row)
construct an auxiliary polynomial and the perform differentiation
Example: best way.
Pa$e 6-2;
EE 422G Notes: Chapter 6 Instructor: Zhang
Example 6-11
1 3 3 3 3 ) (
2 3 * - 6 A
+ + + + + + + s s s s s s s s &
Pa$e 6-21
3
S
Re#la,e ;
EE 422G Notes: Chapter 6 Instructor: Zhang
(3) A##li,ation: )an not 4e re#la,e( 4y .at'a4
Ran$e of soe syste #araeters.
E3a#le:
) 1 ( 3 3 ) (
2 3
/ s s s s & + + + +

/ c s
/ ) s
/ s
s
+

+
1
3 H ) F (
1 3
3 1
1
;
1
1
2
3

/
;
/ /
c
/ /
)
+

1
3 H ) F (
; 3 ) 1 ( 3 H ) F (
3
F
3
) 1 ( 1 3 3
1
1
!ta4le syste
1 F
1 ; 1
F ;
3
F
> >

> > +
> >

/
/ /
/
/
to ens"re syste sta4le8
6.6 Frequency Response and Bode lot
:ransfer E"n,tion
1 3
2
) (
) (
) (
) (
2
+ +

s s
s "
s &
s '
s "
Ere+"en,y Res#onse

A#lit"(e Res#onse:
2 2 2 2
3 ) 1 (
2
M ) ( M

+
# "
Real #ositive n"4er: f"n,tion of

P/ase Res#onse:
2
1
1
3
tan ) (

# "

2nterest of t/is se,tion
Pa$e 6-22
6/y7
EE 422G Notes: Chapter 6 Instructor: Zhang
2n #arti,"lar, o4tain

<h(t (3e these=
2#ortant I"estion: 6/at is a Bo(e Plot7
Dow to o4tain t/e wit/o"t ",/ ,o#"tations7
Asy#totes only8
1. Bo(e #lots of fa,tors
(1) )onstant fa,tor /:
Pa$e 6-23
EE 422G Notes: Chapter 6 Instructor: Zhang
(2) s

1; 1; 1;
1
lo$ 2; M M lo$ 2; M
1
M lo$ 2; M M :

#
#
" s
d1
)an we #lot it7
'
S
t
% Can we #lot
T M M
d1
"
for t/e7
P/ase s%
o
# " 5; ) (

'
S
t
%
o
' # " 5; ) ( t
Pa$e 6-2*
EE 422G Notes: Chapter 6 Instructor: Zhang
(3)
1
1
+ >s
ste# 1: )oor(inate systes
ste# 2: ,orner fre+"en,y

>
c
1

ste# 3: 'a4el ;.1
c
,
c
, 1;
c
ste# *: left of
c
:
; M M
d1
"
ste# -: ri$/t of
c
:
) 2; M M , 1; (
) ; M M , (
d1 "
"
d1 c
d1 c




6/y7

2 2
1; 1;
1; 1;
1;
1 lo$ 2; M 1 M lo$ 2;
M
1
1
M lo$ 2; M
1
1
M lo$ 2;
M ) ( M lo$ 2; M ) ( M
> > #
> # >s
# " # "
# s
d1

+ +
+

2f

; 1 lo$ 2; M ) ( M 1 1
)
1
( 1
1;
2 2
+
<< <<
d1
c
# " >
>
>


Pa$e 6-2-
Point 1
Point 2
'ine
EE 422G Notes: Chapter 6 Instructor: Zhang
2f

d1 # " >
d1 >
>
> # " > >
>
>
d1 c
c
d1
c
*; 1;; lo$ 2; M ) ( M 1;;
2; 1; lo$ 2; 1;
1;
1;
lo$ 2; M ) ( M 1
)
1
( 1
1;
1;
1;
2 2


+
>> >>




E3a#le:
1 2 . ;
1
+ s
6/at is : : > = 082
6/at is
c
:
c
= 1/> = ?
E3a#le : 082s @ 1
E3a#le % (082s @ 1)
2
4 (082s @ 1)
72
Pa$e 6-26
EE 422G Notes: Chapter 6 Instructor: Zhang
E3a#le : (>s @ 1)
A'
(*)
1 2 2
) 1 2 (

+ + >s s >
()o#le3 --- )onJ"$ate #oles)
!te# 3 : Before
c

:
; M M
d1
"
Ri$/t of
c

:
#oint 1: (
c

,
; M M
d1
"
)
#oint 2: (
c
1;
,
d1 "
d1
*; M M
)
!"ample#
1 2 2
) 1 2 . ; 2 2 . ; (

+ + s s
A,t"al
T M M
d1
"
an( (s/ow Ei$ 6-2;)
6/at1s resonant fre+"en,y: rea,/ a3i":
2
2 1
c
9n(er w/at ,on(ition we /ave a resonant fre+"en,y:
Pa$e 6-2A
'ine
EE 422G Notes: Chapter 6 Instructor: Zhang

A;A . ; 2 H 2 <

T ) ( # "
: see fi$ 6-21
6/at a4o"t :
'
>s s >
t
+ + ) 1 2 (
2 2

7
2. Bo(e #lots: .ore t/an one fa,tors
)an we s" two
T M M
d1
"
#lots into one7
)an we s" two
T ) ( # "
#lots into one7
Qes8
Pa$e 6-2F
EE 422G Notes: Chapter 6 Instructor: Zhang
3. .at'a4

[ ]
[ ]
) , (
U ; 2- - 1
U 2;; 1;; ; ;
2- -
2;; 1;;
) 2- - (
) 2 ( 1;;
) (
2 3 2
de* *0m )ode
de*
'0m
s s s
s
s s s
s
s "
>>
>>
>>
+ +
+

+ +
+

!/ow res"lt in fi$ 6-2*

6.$ Bloc% &ia'rams
1. 6/at is a 4lo,k (ia$ra7
)on,e#ts: Blo,k, 4lo,k transfer f"n,tion,
2nter,onne,tion, si$nal flow, (ire,tion
!"er
!yste in#"t, syste o"t#"t
!i#lifi,ation, syste transfer f"n,tion
2. Blo,k

Pa$e 6-25
EE 422G Notes: Chapter 6 Instructor: Zhang
Ass"#tion: Q(s) is (eterine(
4y in#"t (V(s)) an( 4lo,k transfer
f"n,tion (?(s)). Not affe,te( 4y
t/e loa(.
!/o"l( 4e vary ,aref"l in
analysis of #ra,ti,al systes a4o"t t/e a,,"ra,y of t/is ass"#tion.
3. )as,a(e ,onne,tion
*. !"er
-. !in$le-loo# syste
Pa$e 6-3;
EE 422G Notes: Chapter 6 Instructor: Zhang

8 ; 7 ) ( ) ( ) ( ) (
) (
) (
7
) (
) (
' s R s B s C o3 s B
s R
s C
s R
s C



)8 ( ) ( ) ( s E s B s C
'et1s fin(
) ( H ) ( ) ( s R s C s >
)lose(-loo# transfer f"n,tion
E+"ation (1)
) ( ) ( ) ( s E s B s C
E+"ation (2)
) ( ) ( ) ( ) ( s C s " s R s E

) ( ) ( 1
) (
) ( H ) ( ) (
) ( ) ( ) ( )) ( ) ( 1 (
) ( ) ( ) ( ) ( ) (
)) ( ) ( ) ( )( ( ) (
s " s B
s B
s R s C s >
s R s B s C s " s B
s C s " s B s R s B
s C s " s R s B s C
+

+


6. .ore R"les an( !"ary: :a4le 6-1
Pa$e 6-31
EE 422G Notes: Chapter 6 Instructor: Zhang
Pa$e 6-32
EE 422G Notes: Chapter 6 Instructor: Zhang
E3a#le 6-1*: Ein( Q(s)HV(s)

) ( 1
) (
1
) (
1
1
) (
) (
) (
* 2 3 1 2 1 1
* 2 3 1
2
1 1
* 2 3 1
1 1
* 2 3 1
B B B B " " B
B B B B
"
" B
B B B B
" B
B B B B
s X
s !
+ + +
+

+
+
+
+
+

E3a#le 6-1-: Arat"re- )ontrolle( (, servootor

2n#"t : Ea (arat"re volta$e)
O"t#"t :

(an$"lar s/ift)
Pa$e 6-33
EE 422G Notes: Chapter 6 Instructor: Zhang
)an we o4tain (
E H
7
E3a#le 6-16 0esi$n of ,ontrol syste

0esi$n of ; s",/ t/at ,lose( loo# syste sta4le.

/ /s s s
s /
s / s s
s /
s s s
s /
s s s
s /
s
s
i
o
- . 2 -
) - . ; ( -
) - . ; ( - ) 1 (
) - . ; ( -
) 1 (
- ) 2 H 1 (
1
) 1 (
- ) 2 H 1 (
) (
) (
2 3 2
+ + +
+

+ + +
+

+
+
+
+
+

Ro"t/ Array: / /s s s - . 2 -
2 3
+ + +

/ c s
) / ) s
/ s
/ s
- . 2
; - . 2
- . 2 1
- 1
1
;
2 1
1
2
3

/
/
/ /
c
)
/
/ /
)
- . 2
- . 2
; - . 2 - . 2
;
- . 2
1
- . 2 -
1
2
1

!yste sta4le if /L;. 2f ,ertain #erforan,e is re+"ire( in a((ition to t/e

sta4ility, k "st 4e f"rt/er (esi$ne(.
Pa$e 6-3*