SAI VIDYA INSTITUTE OF TECHNOLOGY

(Affiliated to VTU, Belgaum, Approved by AICTE, New Delhi and Govt. of Karnataka)
Rajanukunte, Doddaballapur Road, Bangalore-560064
Tel: 080-2846 8196, Fax: 2846 8193 / 98, Web: www.svit.co.in

DEPARTMENT
OF
ELECTRONICS AND COMMUNICATION ENGINEERING
CONTROL SYSTEMS NOTES (15EC43)
(As per Choice based Credit System (CBCS) Scheme)
IVTH SEMESTER

MODULE-4

Syllabus: Frequency domain analysis and stability: Correlation

between time and frequency response, Bode Plots, Experimental
determination of transfer function. Introduction to Polar Plots,
(Inverse Polar Plots excluded) Mathematical preliminaries, Nyquist
Stability criterion, (Systems with transportation lag excluded)
Introduction to lead, lag and lead-lag compensating networks
(excluding design).

Study Material Referred:

 Modern Control engineering-K Ogata.
 Control Systems Engineering- J.Nagarath and M.Gopal.
 Automatic Control Systems-Benjamin C. Kuo.
 Linear Control Systems –B S Manke.
 Control Systems- Anand Kumar.
 VTU Previous year Question papers (2010-2016).
 Control Systems- BAKSHI.
Compiled By:
Prashanth N
Assistant professor
Dept. of ECE
Mail : Prashanth09827@gmail.com
Phone: +91-9538766317
Controls Systems Notes (l5EC43) httlss : //pe ce sv it. bl o g sp ot. i ni

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l"tod.rte- rt :- |-ves 4er>crl
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OY

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' o uslttb ib ,r>ir:u'ao''1{ }n* i*

--.-.--*:-
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t4oocoo aA -ftreaue3
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v

fl++e- rnqgoitude
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i,saor
plto,sc-
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r[t) = sirr(col+ o) -L'lftoene Ytt) = hS;.t lcot+ {)
tf Congide-r q- (f.te-o-r &,6AUerc>, creiHD o- &fou.goi&l fr>ff
yct) = sfrr Ctot + o)
* tba &t@t.gcl)/ c'Ditt be- cr
-The ,btea4g -4rcrYe- elu-Tr't of
o9', bt-ct Po,^6ibb
s,r--*.soicr c-^sittt tttc- ior--o
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tr:;th dibk"*ent ornPUft^'le. t fi) a'.,cl phoae- '!: tr'at il
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$ct) = R s?n (c^rt + $)

Note
time. ae-afoz'*e
gn| ituAe' h o*.Vev"fable lerrn
I-1l" '*f
bl In *rnwer,g Ye.s7ase bo*b nro7rifude o-nd Tloaee-'
aae Y ari able t et m,g-
Prush*nth N,Asst ProJ, Dept of EEE, Stii l/itlyn Institute o/'Tecfuitologl:, Rajunukunte, Bungdorc
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* I+ tbe- Sutpuf yt-,a.u- Wle tr> poai Hve it I k

I
leo,.af3 c^9 iLl" YeTe-ef tx1
o
t.2 eut oh,r'ch rla CotLaJ aA'
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ia
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t.alf:l crl;th Yaafc-t {P i'ap'rt urS lr-r'cFr rla C-o-ttc'ol aa
tqaSr3 ogte.
o-tulaSfl
tst i g
onat6 ;tib
)k -Lrt*-A,*ry Ye,sFG '>b1
uttt."-'.oo- '
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vaptor-ec\ t, t,"' f-'t1'ot 2
t g6 c t'o '
tetrn, htbere-
t Ci) i* Vorie.s +?rct-.D O)

Eac".ropb:-
ir'\r\--J- ^

e, G t=on.t[ez func-h'otl -},

ConeicLe-rr
usbeza ti4- i':ptrt
ia gtve'r b3 I eo.e Er* tsJ 4i.rg trra ,-bbcsdd
^vs-le-
*rPf.

lo 4
TF '
\tveCI " =
s+a
feyb-ee- S U3 Jtrt
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Wn
lo LftaXn; tude
lo
.i t^r+a tf+a- a+ jb -- ton-'+
J
( Phatz Lerrn)
lo t- ton-tt+)
--€
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tr'e- $vrn tlr
* cs.s Ccr:c t + )
:F B13 Csrrr pcrzfg il-'o- Qlven ircput r.oitl' ,a t-andard
te.rrt: (rle- [4rrotrl t]-ot 6(r)=e"
Prasltunlh N, Asst Prof, Dept of EEE, Soi Vidya Institute of Technotogy, Rujanukunte, Bongalore

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Controls Systems Notes (ISEC43)
Itttp s : //p e c e s v it. b I o g sp ot. i n/

Bg eub,gtihrh'r5 t(-te vo,Uro- i.r t le

to l- uo"-'t+)
=-
Jt+*
to o
l-l+
I
5
Je
-
? tobczt+ 15) 1\f€ coa 1""-sfl
t-

* fro.-t *te- t*reb fnpr-tF anal

Obou.a Pfru". . rJe- F" rf ot,.,1o

ot-tbgub of brnc_ .Ar6atern a-re- ,2-arne- (t coo') , t-.:he.re- ^6

rnogni ttrAc. ( z{'-- i/P ancl +{a- +*'7f) *nd ghaa e-

(r s""9',- 3; +,'{ "lp) aYe &}l,erent

i/f o.-l -

2, h ,,6Xar"r'> dibb tranafev f- unc-tr'crr1 y(t) = +s +P ha* &ru

Kcs)
Subput gcr) = Ce,: fzt - 9, ) +*- Lhe- f ny-t ,tt'dr'*l
)cct) = Pco.&(2t-ir), tbeD A)e-- A 6*Ve.o lararn e tev
P TA.

*,@
fnp.h:cct)= pcoa(zt - oubpuj !Jcr) coa Qt - g)

tF B.fl... s bg jr,S fo {be- 5fve.,,2r t}"*n.tfier- f-trneFi.rn.

/Cit^r) JtJ u)
XCjr^r) JdtP JbFi-tL' Lt"{:lF)
-uJ
=)-
J,ffi,"
t-_.,_=J L-#
--+6
naqni tt de-tetr," Phoae- F.rro
Proshanth N, Asst Prof, Dept of EEE, Sui Vitlya Inslitute of Technology, Rojonuhunte, Bangalore

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Controls Systems Notes (15EC43) h ttp s : //p e c e sv it. b I o g sp ot. i n/

* H.teu'ne- +>e- .Bbeo.413 -;u.Jie- g,rfub Jcrz o- gfverc iop,rt

o-E
F P cDA et -+ + S) --+@

n-*o*"- l'
C"HT-ffi+ I)aoae--'
rt o
a)
* Bq Csropc.v!3 u-, e- 5 iv e rr g*byub u9 i+b &1.^oF,
-, I

sl. 16 .t -ri-
FP=r _ Tf
4 V+ + =i
fr=+ q +--bo+1o
.o_-+
61O

9= 3D

mo3nibrde'- ' Pho.r,e--

* BJ -,-f r13 r-nagoih,d'e Lezrr:L *'h'^*u'"crrr 0 "d

l, tr]=P'
P -=L??+p-
f Ti*o":3 Altro.a Bo both sider'
I
= '\tr+P"
r-
= \P-
')-
t{+F-
3P =\
, z
oL = t-l

P= .?' -"@
J"
fF Bq O o'nd @
Jl G.rrpo.r iag qla*e fet..n'g + Qt^oFic-z

9o- tnn-'t+) = 3i ur=P'

.
to,n-lf'tF)
2\ o
io-3o
o
=
b^'-' t?) = 6o'

Prasltanth N, Asst Prof, Dept of EEE, Sai Vidyo Irtstitute of Technotogy, Rujanukunte, Bnngolore

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 5
Controls Systems Notes (l5EC43) Itttps ://p ece svit. bl o g sp ot. i n/

_e
P
at
-Lla
\i 5
o
-7I

,? Fzo.o Squot-i.rrr- G o., @ c..ga BnoLo tt-c.*

4
f= \G

Prushantlr N, Asst Prof, Dept of EEE, Sai Virtya Institute of Technotogy, Rujunukunte, Bangulore
 6
Controls Systems Notes (l5EC43) http s ://p e c e sv it. b I o g sp o t. i n/

]t:ys=I%:f
ttT+
l::ggtTrffit:1m
*rr-nxprft"ncli.rn_ r'a &|fiicutL to be EUt:-P,aad b2
O-"tJficaf rte*r'>d+, fl-e- {-ut*o-tg fe-!foo6e- + th-bte-.
9f- ["op Agzter.> Ca',2 b€- &UUa,Poeol Secfezirr"en \p'I15.
a, Fra*ry -r-e,Lfoiee- Ve*E* o?re- t=f,-ft: 4'' Tetls7ra'
gUtofotc,\ {---t {o"1u"n.11
O/ Tranalez ftr.rcle'ao Cso be-
o; Lac.- XgsU<r-t.
rr>et+zod'g CgD be u5*rl t- +"r*t S:e-
)) F:rn*.-'3 rt-eafDbe- bDe- LZEtcrn '
,l!sb tL' 'b
Ob'aol,trte AS glelt ct4 rels-Live' +
5)The. Off-.*uzeltri-erL 'f--t Bbteini'r3 {rt1uu,l5 rtr
is &inopte Ono[ &^5 to u*'e'

W co!$ ls -fafrtY ti"-'o

r! Olatof,rll3 t-e+* nry ::re'lTol-'le'-
|ro-ctr
C-onaurot .J
A' aT-,ebe ra-:e-tl:oJg O're o1tf t"d
ho [f'.uo.r 'b63Uetl>r ontg '
r-e,r5>onee- rneLhod
sy hr L-bt- bitoe- C"oo,sLaot *.o1o"r-g
r'rq" noL Convenferab.

Praslranth N, Asst Prof, Dept of EEE, Sui Virtyo Institute of Technology, Rajunukunte, Bangulore
 -

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Controls Systems Notes (I5EC43) h ttps : //p e c e sv it. b I o g sp o t. i n/

9csl*cs)
Hr

r.o (a_b)

O.?oT Bandroidur[eat)
(3dt2) l
I
I

I
I

u)t u)c
1?r::* st:s= * *:-t=*=: k='tre*
+ Coraar'ete7 a c-to.te-ct [o />6Ye:r> .Bbotoo ?o tF,e {r6ure bJot.o'

9ct)

CtoBeA
+ - --tooP Ag.sbern-
r-^F#

b)e- 6noq9 thoL , ttse cto,scd, - toop tlon'tfe't functs''ctn- t; 5 iv etr-

bs,
ccs) 9c")
= Ptt9
R cs) l+ qcs)HCs)

* t to io &1.,o.h'er> 6 Loe- 3e+

Pt *s =i

9 C.it^l)
H titt) =
I+ q Cit^,) n[ju)

Prushonth N, Asst Prof, Dept of EEE, Sai Vidyo ltrstitute of Technology, Rt$unukunte, Bangulore

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Controls Systems No.tes (I5EC43) https : //p ec e svit. b I o gsp ot. in/

"t::1 ffi:j Cu')

The- rnQarr'rot^rD woLua- o.1l
t
lt4 1j t^r)' q-'s t t^)? Verrr'ecl t'a K.,otott-

o.b f{ eaonc.nl P"a-lb tt") .

tri"ly of bu LLoad*leo7'LyLern Coo

W
be, fndiaa n6 t'4'' Tt f iaLonu' :':::t,,:," ::-!;
t"4-
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a.t bhich ?uo*f )G-Ao.ar'.t l"lt' 91cuY&
t* Koot.sr1
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r L a?D -r-ol--e-

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e, ft3%05{:g:?',
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o
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o Cz'o&S Sv"z !:a"nt^crY '
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d
Proshonth N, Asst Prof, Dept of EEE, Soi Vidya Institute of Technology, Roiunukunte, Bangalore
 I
Controls Svstems Notes (I5EC43) h ttp s : //p e c e s v it. b I o g sp o t. i n/

t, PV"*=
r-l\. -\^
Cvong Sver-F-"X,rcnqg.
v\/\. \ .i h/\r-\^/\rr.*
^

JEe- &.nuc., g'ufJ q-t t-.:bfch Llze- Tlnaae bC. o I tlee-

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f-ua,^o-,93 o
tf lgc$)t+cs)
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o
-180

9, 8-.'t
9*
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aazg{-

Th@- ct ts fbo+e- Cz-o**' sve-z

{rcsy-c"1,
t (^t'"' t"g l4ootroe'>
6o.lo
o.>s
tdo n:tr.r-gln crncl iF fa C-o.lcl-trit e-el b5

Q11 =
lg ciur; r(iut) I

QtY= 2o ts I
i.-, ag
lQ Cjwlttcit^91
at trt = tdpc,

A A
i.s eolclUaled o-b pl'ra'se' L{a*
rroo15 Fn
$Vet f-.n*a.,q1
5u'1
bg 91uo+i'3 Phaoe to - | 80'
hlk*ggla t'etg at
tr'a OrnouoL of cu't-cb'h'ot:al prra'rc-
-oI3 fn,
Pt"o..aa ra
t ts.' Gnel- ib f6 Sfve', b13
bre, 6aio cr-oezE Bver {ve-ltrenc3
Prq= lgo * lq(i'')Htih')
of 1r1=' Ugc,
Pt-ra.*e rrr azglo fa @lq.ltr-tobect o-t 3o'flo c6o'A over freluenS
bS F1lc'-ffr,7- $aio +o ,r,t't.

Prasltanth N, Asst Pro.f, Dept of EEE, Sai Vittya Institute of Technologt, Rojonukunte, Bangnlore

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Correrohirry $ot,rea-, r /\
a{,o- r
Ar>ct I t-e.-\e.r1u)
\. i^r-*r\/ r^'l- ^ '

Core*,i&r tl>e gecoool O-Cez S6,abem.

sfs+ B Qtro)

ST&<
The cLope,d Loog *-ona[ev funcHcrz x- - '%e:-'o'>ef
/oEAt ra,E) ro,+ bg.
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E cs) .E+ ? Qu' S *ulpL
)F Pct s =j,.J i., 81t o.tf.rr, O 2--
rth (rJn
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ft cjt^t; (i^)-+ LQdn tit^r) +ul} -bJ"-+ e quln id i (^lnl
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C Ci o.t) urn

K Ciu) -(rfr -,,ft +iaQLr.,ur ->@

* B5 rn,rr+ytJr_g ooel dfw,c$-.5 .r:o"-9- ga''^rr'-o o c.rc- gc-t .

c Ciur)
:
Rtju;
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* Let J^J- - tr- Noteio-+iu=J"'+F
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t^Jn Lmqrul-do
' ccir^r) a+ib = ton-t +
+ JZt(tt (-?l-ae tc-m)
#

R tiu)
cGo) |
l'{aq--,'tud.€- *c-v;9 l-
l- --+@
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R trr^o)l @
Phq.e- \/,\.-A
\i^.^J*
Le.:.r-t
jr - tan-t -zQtr d
t- Ft2- = | -*@
Prasltuntlt N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology, Rujanukunte, Bangulore
 Controls Systems Notes (15EC43) h ttp s : //p e c e s v it. b I o g sp ot. i n/

The.- ,stoetg - abal-e- BSut { the- LfrT fo. a_ -eir:teaoida-1.

iopt ? $ tr.u? rna3oituae Ond !q"ri^f'le- f-e1*o.1116 trJ)r'Fr3fven
bs.
I r- -r r L€,tLJ
Ctt)=:
- s;o[-t'rt-ton' :::
r-'LL/
Jo-*r* c'qq)- L l-*:J I

e,e'oo to.s fn -t112- {xn + Cu)=1! )fn(wt +3)

ahe a-bouz
+J phi."
mya'+uAz
Lerr> | etfi

* frq) Q,'ot|n t @ ond' @ uoe !ln',''o *t''ot

i+ r,-,=o N=t o-n& + =oo
tt=t M=J-
- ze, ancl +='1oo
c[=@ l''l=o O'ncl + ='Tf

{r The rn7ni*urle Ond yL"zr.*z Aflb Ltnat*-tett'61-t^cSb +*

Ce-k Po votrrl-- Q t"k *;-,otory 9.z- trr^e.- -ftb*-. betouo '

+
a'+o:t)
o
"[9t o

+
d(la
o
-t c- jo
d
s I

e d
.S
I

t" g
I

t
I
t
s. I
I
o I
s-l 8o
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= atl,rs,., d;t Normorr';d {rnn*Z (c,g
?
*' -T[re- *rryrc:y at t.sb.e-lac Mo ["o,t rt)o,x-l'rr:rrrrt vculu{- l,+ F,ootclt>
o*5 ye../sorr.ot €-qwen% ' (rJr'.
tr-r= g
uJo
c-)bere- t).1 = nor,nxrltle& teaor:nnt tr:e1n"*rr4"
Prashanth N, Asst Prof, Dept of EEE, Sai Virtya Instilute of Technology, Rujanukunte, Bangalore

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controls sjstems Notes (I5EC43) http s : //p e c e svit. b I o g sp o t. i n/

* Bj cL'&5c"enh.a:!55 \,'ah'vn @ ulilrr **yer* lo tL and ptrbtr=

aod |auo+e to $e-t-o
.

{Yrl :o'
s. l..=..-
ie#ffi=o
*- 8.1,^tion @ ia< [r: *rre 4t-tll - I Cqo be usrritterr-
J;4F
ob Ld+ *f/-
-3/"
t?
tr'/- -t_ (ot-r u)
* Diglere6trbh'orr $ Lo-'+ J_

d-t'1 | =-+F,-€)**o,-tlfk('-*)'ea9+ "d=o

* Theze*'e. 6-1..=*, r

L",v)f;Lu-' +qd + 8'"E1 = "

HI t[1=[l,z
= -*[t,-u")?
-
Cor? Ete
b(L tr:"r-ibtqr a'9
Y ftbove 8.1t^o'h"r4

sl =-+#
cLtr I
ti= (tz.
9+ eu-q
il1-Caeu")'
-_o

i"e., Lt qr - Etrrqt-h *"3: o

tsJ h*f::thtrJ Corrrrnotr-

r+ur('-af -t^* ) =o
t.e t-tr Cr - a Fr-- ura) =o
.!
t-BQ - (l'u-: 6
2-

fr tj+to.< (la-=o 66
(r)e c U^,at (Ir- = Ldv
*- Koot 6-

Prusltunth N, Asst Prof, Dept of EEE, Sai Vittyu Institute of Technology, Rujanukunte, Bungulore
 13
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Controls Systems Notes ( l5EC43) https : //p ec e sv it. b I og sp ot. i n/

&dt (-oo.si&r ttz,e- *etrrt

t-?qLu| =o
,ti^2-= I - Pq
r.Q , Iuv=J
'c:-':-:,--i
r-aq- ,i

u3e 6oot-rl +t-'o-t

g-
t Jrt
-?q-
uJ(?
j,

: _:ffi -::t
f* givert 0+i
:

;i
I
t
t

E-TOIT) pho;'e.- te-r:rrt

I
fu.ro.+-t'rttr @

+.:
P.rf

'I{ A
ffiI-EE-
dIy- - Lon-l ?'q
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6=
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ts,r-l
E

huve rn 49r, i tude te-rrn

Fvorn 81uolfo., @ l(ne-
I
I

Mr= HCi,,r) | =
II tJ =U-f,

Pqf (lz-

Pruslranth N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology,, Rajonukunte, Bungalore
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Controls Systems Notes (I5EC43) http s : //p e c e sv il. b I o g spo t. i n/

Mrr :
r{ (rfrq-=)'q-

-1

J h q--.t q\

l- q*

lnr =
I

eE l-tr" -2@
-ffre furu**icrvz- +tu Ye*omc.nt ?eLF- t'k Trev
en
v
aa It-

eEJJ-E-

oj q' o77$-"*
{( F'oro tl"alio n> @ ^at'd @. iL 6i.s Aeet> thot
t
s3erro, a? oyy@ torr' o..'d
o l'1tt o-ppro-..;es ioff.t"Lg '
o-Lt'rsaX's hag
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Flog o-
a- Va!^o- lea tho'n'Lgrt' Ond E>e feronanL P".a*
Va-tu-o- t#aD l.
E-"tj.t

Prusltunth N, Asst Prof, Dept of EEE, Sai Vidya Institute of Technology, Rajanukunte, Bangalore
 -l

t5
Controls Systems Notes (I5EC43) http s : //p e c e sv it. b I o g sp o t. i n/

* -TIre b*rlwtdfl'L t'& alao d:r1efrled dA L?'e- :r-aq3e- "1r

o ..$ gver cDh,'.hslY o f* &L,. ul 9r ffrattet ti€.rL
Jrquer)cle
'ftT -
* F<orn Sa.rafi.rn @ u9a- hnanthof l'o
,t''l -- -i )
Bqndc^tf&h^d
li lr
* Let ub = r.l-rrqqecr bondtrei{th = then u)6' (o
T*

t+trf, -"&t + q q*ufr - a

6T
*bh - ?-Lf+,rqouf -t =o
66 ubq -a,fQ-aE*)-t =o

P,rf (abt=r oJe- $tt

t zL Cr-aq")-l =o ->@

, -- I t-' La-c
LJL-e6e T =

f) 6 ^.\- - fri\ cli nltt c''9e- F,rtot^c tt-at

Bs ornporrrri3
c &1,ro'tr'crz- @ ^'r.fr- @
Q= t, b---ecl-eqt) , C=-l',
Prashnnth N, Asst Prof, Dept of EEE, Sui Vidyu Institute of Technology, Rajanukunte, Bangulore
 t6
Controls Systems Notes (I5EC43) https ://pec e sv it. b I o gspot.i n/

1.2, I. -ea0 -2e,")) 1

=
P, CI)

+? Cr-RE")!

ecr - eq') 3
B
at-ae,') t

R,Cr- aE-) f {f

x= C-eq,") t
u9. 16. b e-= ub2-
Bg C-roo,side-?-q- P"<t"Fv5 P":
.'. = I -eq- -F J ? -qEt+q qtt
";:
t.e b= Ne"rtn l/'A.A
e- h Q?q qr loa.rd.*lidth.

But Lb = tCt
uJq

.'. ub = % Uh = Jencru-rno-ftreel bc.nd c.grdth.

Qb= Uln r-eq'+ffi

Prashontlt N, Asst Prof, Depl of EEE, Sui Vitlyu Itrstitute of Technology, Rajanukunte, Bangalore
 t+
Controls Systems Notes (l5EC43) h tt ps : //p e c e sv i t. b I o g sp ot. i n/

t'/r Ztt o'bJ

tY Ea.yvz"'*i.-r- +t" Te,l*rro-rrL -f-""1,*e%
(r)5 = tr)n 1r - aQa)
(,rz-o:?v .-fert
at, aT>e- phc.aa on5)e- ++ tjtr) cut L+'e- M
@ f'k
&nreril-V (I7 I bt-aPrte-'\ {--.,t %.*h'.-
Viv e.r>-
la

i:* Sivenlt7
3, Er-V-o-++ior:-- -f-"t Lhe- r,-e.a,rton! Y*u
i r--
l1o =
e E J | -E'

uorclLh llr en b3
\, Ex-Pq-eraitt'r- D orroo.t-rq eel Fao",cf 3iv
t_

b-5
5, Ez-yooo+iorl- -fcrr Ae-nsrn.-f.!er-l [ac.-..'dtorel Fn fA.;fven

db = Ldpl I - e q"iF,. q'+q q'{

P.I.O

Prashuntlr N, lssr Prof, Dept of EEE, Sai Vidya Institute of Technology, Rajunukunte, Bangalore
,rF-
la
Controls Systems Notes (15EC4 ) h ttp s : i/p e c e sv it. b I o g sp ot. i n/

6, Mo-fto G.IcuJ.aa'^aug
9dn
t-pq4D*.-#" t'c'rl r''s g r'v e-r.,r' by
I

Bc !ogF-
u
9H=
lQc.iH) *Cjnr)l
cr_t UJ =
df"
p...oce,&-oe l-
\,A...\.A../\AAa\
al gl.aae- Ct-o*t €V@-*f
s_!gl' tr*", roo-6fn r"* Ca.lcr -Lq.t-e.J
o

*'u1**d b5 q'-'ff\ Yhaae-

4E lao

Co-lcrrlale- 3c'f't o-t oO = trlp c-

1l"ggi
f3ffi't' fl.r- Lo'o,'e- {*-*L+ 6ive*' ?c."!4 '4o-ffu'
.*;e- fn ar-3in Co'-t ct'tcl-t-" st) L '

Eaynv>+icr-z- f * 3t'von- b5 '

rtCjr"t)
Pr"t= l80 + lQcjr'r)
I*= dr.
DI ?oLeJtj,LTe
I '
;-

i* CaLcrlla*e-tl o-t gafoc-"'1a tlvef,

%t '- tho"se-- rnor-6P^
gJ,,r -t-- ti*\.
at U9 : NJ'
.9bcpe'- Cp,lu'^tcte yhnae-
#

Styz'" Tt- yl'.aae nna"r6?n'

r.l*
aber,^o +"6-rrlA Uivex

Prasltunllr N, Asst Prof, Dept of EEE, Sui Vidya trnstitute of Technology, Rajunukurfte, Bangulore
 lq
Co ntrol s S.ls/erzas N otes ( I 5 EC4 3) Irttp s : //p e c e sv it. b I o g sp o t. i n/

?--ob le,rn * Ort 1-*wer'1'9

( t\Ar^v\.^lL
J' otn''{'o l-p*.b?o^tr'c'r *' ."''
\- ,.^../\.^* - rr, - ''^'a''A"^ #

f y tha- +"*.^ror;d f6.'*n, -t-er., %u- &*h'""- c+o- t'toil3 +"edl"orrl

Co,atrol &g*ve:n r'lL ?iv
on b5
loo
qc$--4+6.6
ond
F.rd *t^ra Ye/Ec,r,a rue- ?*'ot xe-hctno-n{- 4-"1*0"*J
X6a\an '
bo,"dc,grdtFr o+ +l-r-- LLI'*A too|

s; i
U
gfvrn Gcs)
' = t9o a t Hcs)=t
ststb.sq)

LJe hrtoto th.at ++12- C LT F f x fl-fvcH b.-t

cls)
.-4=
qc")
Rts) t+ht$ L+ts)
loo
loo
= S2+ l"-}q9 St-+;I--gIl€-
L g'5t{s -Ftoo
oo
t+. I €+
{-6.5q s s}Ls#
""
ccs) loo
Bct .*+ 6.Fhs+too
-+O
By G.rrpo-?ng &r.,ah'croQ
(r9ibt^ ' Ataod.A-fd {t'nc "

rlL
tNn

sot 2-qdas+ il*

h9e hqvo
hg.o

t.la = rl loo
tJ6 : to 'racl/ Eec-
Proshutrtitl\]ls.rf ProJ, Dept oJ'ElEE, Sui Vidyu lnstitute of Technoiog3,, Rc.,iutzukunle, Bangolore
 ?o
Controls Systems Notes (I5EC43) h ttps : //p e c e s v it. b I o g sp ot. i n/

z Qhn = 6.5\
L q ro

q .F

LO

q = 0-3L+

+ u*on-ot't
R:-'\,'^"-A' w
\".1t n' rj I -?,q -

= lo rF o' 8g'6t
rl
b*
t^lr = g- ebb -o.Jl

Yn z'+on o-re I
J^-/'v'\'^-

l"lt
l-q- e f-o 3 a+) I - tD.3Lf

Mr = l.tt8
Eondt,gidtb'--
ar=hJ,
= lO* t- B[o
g""f+fa-q to'3:-t)L1 q Lo'3?t

= to* l- a Lo- sz+)-+ l' 2+2o l

Wb = lq.3ll Yod/ 3e-e

Prushsttllt N, Asst Prof, Dept of EEE, Sai Vidyu lttstilute of Technology, Rr$anukunte, Bongalore
 ar
Controls Systems Notes (15EC4j) https ://p ec e sv it. b I o gs p ot. ird

?, #-z- t-rnn*-r-1 dornafn ,Lyu-t'fiulh'crrr.s .f---"-

De*ctr.t?n<-
@econd - Brdev f,V*ua uei+h U-ni! *e-abat*t o-n-d
Q csl = ,rt/ECs+6X

L>5 FtC9=
-r-\r^,-.r^.,\ Giu.n
Sotrrt-rcrrri
\^-zv\-^,,\ G csl
I
1--
) I

0
4"-" SCg+g)
SCE+.

* t'$e ,,no(D tl.'tu+ thz' C LTF r"rr Vf re'w L"'t

ccrD q c)
Bts) l+qcs)*cs) >L5
229 c
i+6{
= - '*+as
I+ >Ls
::--.1 f+ 6s + >25
s1+ as

. C c^s) L>S
hts) s2+ e9* LLg

+ 8t f'xy fu'*b't'r'- O c.^si|t^ Ut , ,

r^lehav

",-f- sa+>q^tos *H.'L

ar"i = z2-5
No =.,1 z>s
t,Jn

? 1,"t., = E
16t
t
Ct --
2-t^lr^: 2-d \ 5
--

q -- o'a

Prasltttnth N, Assl Prof, Depl of EEE, Sui Vidyu Institute of Technologlt, Rctjunukuttte, Bungalore

f.
 EL
Controls Systems Notes (I5EC43) h ttp s : //p e c e sv it. b i o g sp ot. i n/

I
M.,=
tqJ1-qL

2*0.L* I -@'2)-
Mo = ?.6o

(,r,[,
=t n I - P,q-
- lsJr
q'31 -Al
(,r,lz
= |
^e2-

+ Ba.d" t^lriltlr-
db -- H,''

tr - a to'f) + J t-t-r Lo':-)-+'t

= ts .l t, - e co'L)') + l'358s
db = LL'656racl-It*-'

Prashantlt N, Asst ProJ, Dept od EEE, Sai Vidya Instittite o/'Technology, Rojanukunte, Bungalore

r
 e3
Controls S-ystems n'otes (i 5EC43) hftp s : t/p e c e sv it. b I o g sp ot. i tt/

3!, l= fn"l *h e *-n,.u-'3 J-o.naf.: A?"c,}ica.H..rors frr o- L,6*tat*

hovfn6_
c cs) 8q
R Cs) sz+?s + B I
Sotcr*,'oo&]-
\.49a\r1 .A-
c cs) 8q
G
d
i,r"o
RCs) 6r-++.s+ gt
-+o
Corn
PctTe. fuuab'-o O criitl" ,Btonda-rc{ f
.roch'c/'rn.

cc-s) hJ.,L
t-9e- hs"ve
R ts) sL+ zq tJns + tdn-

- uei = gl
t^.rn
=fsf
uJn = l r,od-l le'c--

2QHn
3-
q
2 hJo e* I

Q = o.3sq
Qaaonoot- Pe.o-t5 '

I
IYr =
L\ LX o.318*..1 I - to .281)L

Mr = l' 315
fi "ao.tot, t +r.adeDt
dr= unJ l-Rq'
=lx
cDv
Prsshuntlr N, Asst Prof, Dept of EEE, Sai Yidyn Institute of Technology, Roj*nukunte, Bongulore

F
 2_rr

Controls Systems Notes (158C43) Ir ttp s : //p e c e s v it. b I o g sp ot. i rr'

crJO = hJrt .l r-eQ-+ffi

q)k I - e (o.3eel+ e - q Lo.geq)-+'r [o. 3 se)

= q* J I - e Co.gsqf + t. arq I

tJg

h' Fin"t 6 K'o-,"16 d +*t *ho ]-.a*"x, Bhot-on l. +:-t?1",*

sotho-fNr=l'?5o'nd(r)'-=la'bszad'l'LQLc^gfrtbe''Lotifta
ti-e- O-nct bandort{[$-

R cs) cLs)

Sotr.fit"cr
t .-\t\.4#
i
CIs'aeA Lo of l--cto"fte- 'f"'nehcrtr r'lt
* crge- 14 nots fi1e{- flre.-
1.4 K
3tv en bg
-
?+".9 .sb€3.
gss =
G cs)
t
I + qrs)tlcs)
R Cs)
r+g-+ag
L
g,-aaStlq
.&+.'t

cc.s) L

R cs) gz.1c-s* li ->o

-
83 cp.l?ro- lnz 8-1*bi"?2Q ugi+h ,4 Fcndo'-d" -f ,-ocli""n-
cc9 hJn-
RCS) .*+ 2q uJns t tJn-

Pruslttnth N, Asst Prof, Dept of EEE, Sui Vitlya Institute of Technologl,. Rujurtukun{e, Bongulore
 e5
Controls Systems ilotes (l5EC43) http,s : //p e c e sv it. b I o gsp ot. i n/

uje h@ve-
-, t^l.,L = K

h)n - JE l.".d.l a'er,-

+ t Q ,"1" =fi

a_ o-
q --
2 t^Jo --aJ h -4

=-*-
zJ rt

-+ Q.r.oton+ &"f*?
I
l'1, =
2qJF
$?'.er
|'fa = 1.75
I
l. ?5
JG-
z-{
t.
./Jn (-h)
-
I
L.?t l.Z5 = a-
..lt'i

I
l-75 =
a gtt - o.z o_
:
{n qh Jtt
-4

I
l-75
& J q1a-[:-
,ih .zJ-K-

Prashutttlr N, Asst Prof, Dept af EEE, Sai Vituu Institute ol'Technolog_y, Rnjunukunte, Bangalore
 L6
Controls Systems Notes (l5EC43) http s : //p e c e sv it. b I o g sp ot. i n/

f.2-5 =
a-,.1 q B -ae-

l. 2-5 o- \ 15 -aa
86 {enflog &Tuateg 0" BofFr Aidea
2-
Q.zs)- c.t(,.r--">) = q h

i.., l.56esaa tqr+ -'.") = Q vr>

6-:-:5J n- l'56z5aLl
?o
81to+,'-n Cgn be- fc- t^triH'en ct'g
L{t4t- c.-75q.2F1 t t'56?5aq = o -+@
o*t*bx-+c:o
*bo,ro- \rn-tf,a- {* ?n a*-te- Jt-'t> %
L= -5+
cEe have-
ry cornprfr:7 c^sitt-' fu,ra-b'".n @
L
L=6., &=\, b- -6'?5q ) (_- l-56aEa\.

#-z7a =
a.
E+-s^"f- q cq)Q:29@
l{= a ch)

6.as-- J =o' oezal

1,.
3 zs a-b
A= a

6.?5,a- ! 3'*t{ o-L

K=
o
B11 Goaide-?,r5 Poaibive te-'ur V= l.?$a-
gT
Bg Corrr,idevini Ne6a-l'iue te'rrn h = o.Stzgf

Prashunth N, Assl Prof, Dept of EEE, Sui Vidya Instilute af'Technology, Rajunukunte, Bongilore
 r-=
Controls Systems Notes (l5EC43) h t!p s : //p e c e s v it. b I o g sp ot. i rl
t6,,arntl-ra-t (t)v = *.,J | -ilef
Bt4 h.;:bc-bi l..Fio3 +1't- Vo-Luog c^ee- 5e*

t?.65 = J h -e[€-

-aF;
= ..f[

= Jh .

= Jr - ?frrt -^)
-t
F.F ZV,-*

aJh-
a
rz.6u=*Jffi
*;dg
B6+an?rt6 \va-c+ g' Both
-E
C,z.bs)L= t- -(\ ffi-^-)
16)-
Qtn- o.')
t
I bo. o2-
q2_

2K-o't = 32fr @

Bg t:cut. ?!3 Y4 = l '? soL ot

in Q"a;crrr @
acl'25a4) -, = 3?-o

a.sc.t- - aL -- 3LO
t'sf = 32*O

Prnsltanth N, Asst Praf Dept of EEE, Sui Vidy-a Inslilute oJ'Technology. Rujunukunte, Bangalore
 2B
Controls Systems Notes (I5EC43) h ttp s : //p e c e svit. b I o g sp ot. i n/

*- 9+o
t.9
* = ?13'3t{
a_ =Jat33q
G= lq.605 and t.?-5 x z 13.31
Y -- zst" L+5
81t^obtn-l @
Sf.-i\o- t3 BJ Lu-r"fog h = o'3 t a 5 aL ?n
3Lo
B (o'31e5 ot) -oo =

O.b2-9 02- - aL = 3?o

(-not-o t!-tc't ib i'+
f,roro +t-a-- Db+e-tvaFi.rnn .qse- '
rtob,l-- a*
rrob Toa,eible- b 3* a x-e-a'l +
'6 o
= L66-6+ and Q =- I t'r
H

Not .l,
Sebt*fS tf":e- .({
t r.,
c/.rb et e- t = -+
Lwo
q 8
Se,ffffirq {fr,t e- =
---
=e
L
:--*6
75t>6
g
LQ-6 o

get+{"Pftq t€rre- = o- 5q11t Le.r.-'

Prashanth N, Asst Prof, Dept of EEE, Sui Viclya Institute of Technology, Rajunukunte, Btngalore
 21
Controls Systems Notes (15EC43) http s : //p e c e svit. b I o g sp ot. i n/

Notto ) @e-- lgooco V&t

Lr96=J ta-
26L.6+
tdo = lb.33 TacL I Auu-

E=
2Jl4
ltt- bo
=
z*- I6.33

E = o.qq?o

Bood rcfAlb t'k X fvex by

-
ueb

=16 -33 t-7 [o.qq+o)=+] e - q [o .ctrr+"f] t [0.'rl+")

t^eb = Ll -+o -*d,| 6eJ-

5, F[ux- belot^r thstllg o- f bazn Csp to'ol &,trate-.o
eecl .

Th e- P ea.n Ov era boo F tB a SbeF fo ptrl t'* l" ]u

Oelerro Foe- tl-4-'ptt".oing

;, qeao..^nt peorr l{o.ancl rcatla $'}6
iil Nor ooL'1 ed reaono-h b fr"aue-l Ut
f ii, 3o.,a totdth . c Cs)

Prushanth N, Asst Prof, Dept of EEE, Sai Vitlyo Institute of Technotogy, Rujttnukunte, Bungalore
 30
Controls Systems Notes (158C43) h ttp s :.//p e c e sv it. b I o g sp ot. i n/

\^.^-^.-\^" -:
Sol,r-h'ctn r lvg/'4. --SfS+q) , *Cs)=t
o V
L[ Grs:
'
t<
t<
c cs) ffi -_--
R Cs)
t+ A ,l -Sz-+L{s t l<
s fs+u)
*9>4e
C cs) l<

-o
--7
R c.s) .s2+ q s+ 16

83 ClcrpooPnq 8t*tr"ono CD coi++a ataoAorc\ {untbitttr-

(,rCoz to e- h-aV a '
9 csD -_
R" cs) st+ aqhlns+ tdo-

(ronz = vi
r'. e UJrr = 'l 15 +@
q

q= .q ---> @
2JK

Overahmb- flk
(-t9q- \4oo.s 'Lt:'ojr , tbe.- rno.zu'rt2uro ?e--a ,

Strreo b6 -nq
HF= la% = e tl'-qL xloo
_Iq
O.lL= e JEL *l0O'
e6 {o-nir-6 no"h,tra'l L"B 6tL both "fttlqg

Ln to. te)
_nq
J r-q-

Proshcnth N, ,4ssl Prof, Depl of EEE, Sai Vidyu Institute of Technology, Rnjunukunte, Bangalore
 3l
Controls S-yslems Notes ( I 5EC4-l) http s : /ip e c e sv it. b I o g sp ot. in/

t' z.rzo = I
r-q-
2. 120 q

JT-r
q
o. 6+q 8 =-

Or: Botr" &id e-'9

% tsl<f,j K..1''qv'-r'
>
o.q 553
UE"/
qt
o-q 533
@Y )-
o-q 533 0- q) = q
o-\ ssg - o-\;s3tr -q^>-
O.ti 533
.L
o.q 533 1 l,q533q
6
L C)-\ 5 33
= O.312-
?
Ir
"1
1.q533

q
lo {f.,a '11' Con*ider- 4n

zI t3
BV +a-n?nX &-1v.av+ gft B.th /- i.lq.
72--
>
q
rq \-
lrJ-a)
Prushan!lt N, '4sst Prof, Depl oJ'EEE, Sni Vidyu Institute of '{echnology-, Rr$anukunte, Bangalore
 3L
Controls Systems Notes (15EC43) It ttps : /ip e c e sv it. b I o g sp ot. i n/

.2-
Lr
E
Lt ( Ft+)-
L rb
E,
Lr lq

tt It
h
T6
\-
[!'
f' = -lb
l1
qq' tf * o. 551L

h= le.8o

l=rr"no 8-1r^ert^r:.rn O Use- have-

u)6=fl+-
rJo = J rz*o

+ \**no't Teat+'m'-l
1r1r zqJ6z
Fvl
2* o.5}'.1X I - o.559-

ly.rr = l.o?8

ft eerzrrl +--a**'Zt hJt'

td-r - u,,'., J r- PF = 3.5+8x J r -L* o'5592-

6
+ Bo.rd to fctttr ulb:
(r)b : trgn

= 3.5+8 I -a * (o.ss1)L+ S; C"'ssTFtq[o'ss

tt)a = q.zqe 16*a/5e-e | :,

Pr*shanth I/, ,4ssl Prof, Dept of EEE, S*i l/idyu Institute of Technology, Rajunukunte, Bongulore
 33
Controls Sltstems Notes (158{J43) https ://pe c e st it. b I o gsp ot. i n/

6f -F,..,a -.hhe- g-fo rna.rgfn Rnc\ pt-a.se-rna.r-3Po i"t bh e -S'ptem

lo
G
I--'' z
csl HLs) = S+RD
.9 otr.r-tt'unl-
F . ,-

I cs)lfc9 :
-I5

fi
tve,^a G
-
3 +7'o
{-on'e{"-
s bg jt'c io lloe- h*"*
.,)

fi"4^'-
qrj,r)rlon) =fu
tr 83 ur.irf-8 ,{%-hksff!
v rfuqru{irE€-
rY6;::"
r-;- \
tu,ctulo/-

to -q f-*".-r[d
QCjro; Ftjt"l) = d N+R,o
- d
4 '----
.Jilt;t-
Note .t
! a*ib: *t__=*-
- and o-*Jb =*:- \ = - Lon '[*
.j a2+b_ Lot'-'Fo- J

Stepg..r
\ -'\fQ
o-L fhar'e'- C-o"" Over fttt*3 tdFc)
{o'r;fo f't calc-dobecl
ftd*
bX &t.^*H3 f l-raae-- t- - I 8oo
/vo'[*) =r tBo
o
(tJ = o., to-n-tt*) = o L
do.+ c,ot ?-lth
.
(rl =F r tso-' [ *) = 90 J
I ^f "

A+ ,f oof Fp't^at+, %{nrlzo=glo also d'n+oot'

* "Lo"g
Lzx,fsat+,

Prnslttutth N, Asst Prof, Dcpl of EEE, Sai ltiditu Institule af Technology, Rajanukutile, Bung*lore
 3rf
Controls Systems Notes (I5EC43) It ttp s : i/p e c e sv i t. b I o g sp ot. i n/

kTffiyi ob Croat Ovav f"t-ta*

+ Th* wLo?t^ r'a Co.-lcrdp.-te.ol 3-e"l'rl

b5 \ffire -f.'" uru{U'

3J"
lo
=l
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sL&+ s+ r)
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p
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o
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lo F,fqrut de t.ttn"$
9 tiqD HtiD = o
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qd
- o

Prushutttlr N, Asst Prof, Depl of EEE, Sai Vidya Inslitute of Technology, Rajcnuku;rte, Eangalore
 33
Controls Systems Nutes (l5EC43) ! tttp s : //p e c e sv it. b I o g sp o t. i n/
lo lo
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G"ftt Morqio ''

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Prushanlh & lssl Prof, Dept of EEE, Sui Vidya Institute oJ'Technologlt, Rrlanukunte, Bangalore
 3b
Controls Systems Notes (l5EC43) http s : //p e c e svit. b I o g sp ot. i n/

B? '%ub6},ftrF;13 fo tta.Xru'Fucra le-.'

^f -
.

lqtit^r) *tjurll =
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pt-,aa g_
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t e'rrt te-*rrn- '

Prashuttlh ll, Asst Praf, Dept of EEE, Sui VidT-tr trttstitute of Technology, Rajnnukurte, Bungolore
 3+
Controls S.vstems Notcs (I 5EC43) h ttp s : //p e c e sv it. b I o g sp ot. i n/

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Prasltonlh M ,4ssl Pro-f, Dept af EEE, Sai Vidya Institute of Technology, Rnjanukunte, Bungalore
 38
Controls Systems Notes (l5EC43) https : //p e c e svit. b I o gsp ot. i n/

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Prnsltcrttth N, Assl Prof, Dept of EEE, Sui Vidv-s Institute of Technology, Rujanukunle, Bungulore
F
31
Controis,9ystems Notes ( 1 58C43) h ftps ://pe c e s v i t. b I o gsp o l. i n/

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3#^
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Prsshantlp N, Asst Prof, Dept of EEE, Sui Vidyu Ittstitute of Techno{og-v, Rtiunukunte, Bungalore
 ____r

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Controls Systenr iYotes (158C43) https : //pe c esv it. bl o gs p ot. i n/

^ol
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Proslranlh N, Asst Prof, Deltt of EEE, Sui Vidyu Institute of Technology, Rujuttukuntt:, Bongulore
F'

t{l
Controls Systems Notes (158C43) h tip s : //p e c e sv it. b I o g sp ot. i nt

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".
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futi
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Fna't [.1.' = e.o6lb, h)z = 1.SgU1 rnd]/rt'

Prashantlt N, Asst Prof, Dept of EEE, Soi Yidya Institute of Technology, Rajunukunle, Bangalore
 Frequency Domain Analysis and Stability

By the term frequency response, we mean the steady-state response of a system to a sinusoidal
input. Industrial control systems are often designed using frequency response methods. Many
techniques are available in the frequency response methods for the analysis and design of control
systems.
Consider a system with sinusoidal input r (t )  A sin t . The steady-state output may be written
as, c(t )  B sin(t   ) . The magnitude and the phase relationship between the sinusoidal input and
the steady-state output of a system is called frequency response. The frequency response test is
performed by keeping the amplitude A fixed and determining B and  for a suitable range of
frequencies. Whenever it is not possible to obtain the transfer function of a system through analytical
techniques, frequency response test can be used to compute its transfer function.
The design and adjustment of open-loop transfer function of a system for specified closed-
loop performance is carried out more easily in frequency domain. Further, the effects of noise and
parameter variations are relatively easy to visualize and assess through frequency response. The
Nyquist criteria is used to extract information about the stability and the relative stability of a system
in frequency domain.

Advantages of frequency domain analysis:

1. Transfer functions which are complicated to determine the behaviour of the experimentally
can be determined using the frequency response analysis

2. Design of the system and adjusting the parameters of the system can be easily carried out.

3. Corrective measurement for noise disturbance generated in the system and parameters
variation can be easily determined using frequency analysis

4. Absolute and Relative stability of the closed loop system can be estimated from the knowledge
of the open loop frequency system

5. Frequency domain analysis can also be carried out for the non-linear control systems

Prashanth N , Asst Prof, Dept of ECE.

 Bode Plot:

Bode plots were first introduced by H.W. Bode, when he was working at Bell labs in the United
States. Now before I describe what are this plots it is very essential here to discuss a few advantages
over other stability criteria. Some of the advantages of this plot are written below:

Advantages of Bode Plot

1. It is based on the asymptotic approximation, which provides a simple method to plot the
logarithmic magnitude curve.
2. The multiplication of various magnitude appears in the transfer function can be treated as an
addition, while division can be treated as subtraction as we are using a logarithmic scale.
3. With the help of this plot only we can directly comment on the stability of the system without
doing any calculations.
4. Bode plots provides relative stability in terms of gain margin and phase margin.
5. It also covers from low frequency to high frequency range.

There are various terms related to this plot that we will use frequently, They are
1. Gain Margin: Greater will the gain margin greater will be the stability of the system. It
refers to the amount of gain, which can be increased or decreased without making the system
unstable. It is usually expressed in dB.
2. Phase Margin: Greater will the phase margin greater will be the stability of the system. It
refers to the phase which can be increased or decreased without making the system unstable. It
is usually expressed in phase.
3. Gain Cross Over Frequency: It refers to the frequency at which magnitude curve cuts the
zero dB axis in the bode plot.
4. Phase Cross Over Frequency: It refers to the frequency at which phase curve cuts the
negative times the 180o axis in this plot.
5. Corner Frequency: The frequency at which the two asymptotes cuts or meet each other is
known as break frequency or corner frequency.
6. Resonant Frequency: The value of frequency at which the modulus of G (jω) has a peak
value is known as resonant frequency.
7. Resonant Peak: It is a maximum magnitude of closed loop system.

Prashanth N , Asst Prof, Dept of ECE.

 8. Bandwidth: Bandwidth is defined as difference between upper cut-off frequencies and lower
cut-off frequencies. Or The range of frequencies wherever system performance is satisfactory
is called bandwidth.
9. Cut-off rate: The value after the upper cutoff frequency.
10. Factors: Every loop transfer function {i.e. G(s) × H(s)} product of various factors like
constant term K, Integral factors (jω), first order factors ( 1 + jωT)(± n) where n is an integer,
second order or quadratic factors.
11. Slope: There is a slope corresponding to each factor and slope for each factor is expressed in
the dB per decade.
12. Angle: There is an angle corresponding to each factor and angle for each factor is expressed in
the degrees.

Bode plot are also known as logarithmic plot (because we draw these plots on semi-log papers) and
are used for determining the relative stabilities of the given system. Now in order to determine the
stability of the system using bode plot we draw two curves, one is for magnitude called magnitude
curve another for phase called Bode phase plot.

Prashanth N , Asst Prof, Dept of ECE.

 Polar Plot

The polar plot of a sinusoidal transfer function G(jω) is a plot of the magnitude of G(jω)
versus the phase angle of G(jω) on polar coordinates as ω is varied from zero to infinity. Thus, the
polar plot is the locus of vectors as ω is varied from zero to infinity. In polar plots, a positive
(negative) phase angle is measured counterclockwise (clockwise) from the positive real axis. The
polar plot is often called the Nyquist plot. Each point on the polar plot of G(jω) represents the
terminal point of a vector at a particular value of ω. In the polar plot, it is important to show the
frequency graduation of the locus. The projections of G(jω) on the real and imaginary axes are its real
and imaginary components. An advantage in using a polar plot is that it depicts the frequency
response characteristics of a system over the entire frequency range in a single plot. One disadvantage
is that the plot does not clearly indicate the contributions of each individual factor of the open-loop
transfer function.

The steps that are involved in the sketching of polar plot are given below:
Step 1. Determine the transfer function G(s) of the system.
Step 2. Put s =jω in the transfer function to obtain G(jω).
Step 3. Calculate |G(jω)| at ω =0 and ω = infinite by taking the limit as ω tends to zero.
Step 4. Calculate the phase angle of G(jω) at ω =0 and ω = infinite by taking the limit as ω tends to
zero.
Step 5. Rationalize the function G(jω) and separate the real and imaginary parts.
Step 6. Equate the imaginary parts to zero and determine the frequencies at which plot intersects the
real axis and calculate the value of G(jω) at the point of intersection by substituting the determined
value of frequency in the expression of G(jω).
Step 7. Equate the real parts to zero and determine the frequencies at which plot intersects the
imaginary axis and calculate the value of G(jω) at the point of intersection by substituting the
determined value of frequency in the expression of G(jω).
Step 8. Sketch the polar plot with the help of above information.

Polar plot of some important open loop transfer functions are shown below:
REFER CLASS NOTES

Prashanth N , Asst Prof, Dept of ECE.

 Nyquist plot:

Nyquist plots, just like Bode diagrams, are commonly used in the frequency-response
representation of linear, time-invariant, feedback control systems. Nyquist plots are polar plots, while
Bode diagrams are rectangular plots. One plot or the other may be more convenient for a particular
operation, but a given operation can always be carried out in either plot.
Nyquist criterion is a graphical method of determining the stability of feedback control
systems by using the Nyquist plot of their open-loop transfer functions.
The steps that are involved in the sketching Nyquist plot (Both Nyquist contour and Nyquist plot)

REFER CLASS NOTES

Stability analysis from Polar and Nyquist plot:

The stability of control system can be measured from the measurement of quantities like phase
margin and gain margin. These quantities are useful to design the compensating network for the
compensating network for the unstable system, and thus for improving the stability of existing control
system.
Rules for determining the stability of the system using polar plot:
Step 1. Draw the polar plot of the given transfer function.
Step 2. Find the critical point (-1+j0).
Step 3. Decide the stability:
1. If the critical point is within the plot, it means the system is unstable.
2. If the polar plot passes through the critical point, the system is marginally stable.
3. If the critical point is outside the plot, it means the system is stable.
Rules for determining the stability of the system using Nyquist plot:
Step 1. Locate open-loop poles on the s-plane.
Step 2. Draw the closed contour and avoid open-loop poles on the imaginary axis.
Step 3. Count the number of open-loop poles enclosed in the above contour of step b, say P.
Step 4. Plot G(jω) H(jω) and its reflection on the GH plane and map part of the small semi-circle detour
on the s-plane around poles (if any) on the imaginary axis.
Step 5. Once the entire s-plane contour is mapped on to the GH plane, count the number of encirclements
of the point (-1, 0) and its direction. Clockwise encirclement is considered positive, say N.
Step 6. The number of closed-loop poles in the right-half s-plane is given by Z=N+P. if Z >0, the system
is unstable.

Prashanth N , Asst Prof, Dept of ECE.

 Compensator
A compensator is a controller meant to improve characteristics of the open-loop plant so that it can
safely be used with feedback control.
There are three types of compensators — lag, lead and lag-lead compensators. These are most
commonly used.

Lag Compensator:
The Lag Compensator is an electrical network which produces a sinusoidal output having the phase
lag when a sinusoidal input is applied. The lag compensator circuit in the‘s’ domain is shown in the
following figure.

Here, the capacitor is in series with the resistor R2 across this combination.

The transfer function of this lag compensator is

Where,

From the above equation, α is always greater than one.

From the transfer function, we can conclude that the lag compensator has one
1
pole at s= − ατ and one zero at s= − 1τ . This means, the pole will be nearer to

Prashanth N , Asst Prof, Dept of ECE.

origin in the pole-zero configuration of the lag compensator. Substitute, s= jω in the transfer
function.

Phase angle ϕ= tan−1 ωτ− tan−1αωτ

We know that, the phase of the output sinusoidal signal is equal to the sum of the phase angles of
input sinusoidal signal and the transfer function. So, in order to produce the phase lag at the output
of this compensator, the phase angle of the transfer function should be negative. This will happen
when α>1.

Lead Compensator:
The lead compensator is an electrical network which produces a sinusoidal output having phase lead
when a sinusoidal input is applied. The lead compensator circuit in the‘s’ domain is shown in the
following figure.

Here, the capacitor is parallel to the resistor R1 across resistor $R_2.

Where,

Prashanth N , Asst Prof, Dept of ECE.

 From the transfer function, we can conclude that the lead compensator has pole
at s= − 1 and zero at s= − 1
β βτ

Substitute, s= jω in the transfer function.

Phase angle ϕ= tan−1ωτ− tan−1βωτ

We know that, the phase of the output sinusoidal signal is equal to the sum of the phase angles of
input sinusoidal signal and the transfer function.
So, in order to produce the phase lead at the output of this compensator, the phase angle of the
transfer function should be positive. This will happen when 0<β<1. Therefore, zero will be nearer
to origin in pole-zero configuration of the lead compensator.

Lead-Lag Compensator:
Lag-Lead compensator is an electrical network which produces phase lag at one frequency
region and phase lead at other frequency region. It is a combination of both the lag and the lead
compensators. The lag-lead compensator circuit in the ‘s’ domain is shown in the following
figure.

This circuit looks like both the compensators are cascaded. So, the transfer function of this circuit
will be the product of transfer functions of the lead and the lag compensators.

We know αβ= 1.

Prashanth N , Asst Prof, Dept of ECE.

 Where

Prashanth N , Asst Prof, Dept of ECE.

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