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Modern - Control CH 2

modern control chap 2

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Micha'el Abebe
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92 views

Modern - Control CH 2

modern control chap 2

Uploaded by

Micha'el Abebe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
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pe — SEU RY CntaiDrctior og, wekition of a ci Vt ~— Lattiar ; aes alepeniag Oe the Creuct eve dhe boundory Vatuae of 4 Of Ques “4 OM Youn ne swe cxyuuct: Duet tee pore, 9 Steps Clones oi oe ivcluvcter ound copoetty Gan, AF 1 Ue Come newes tie dopa autcot F tine. Weausienk Onoucit 6 duo ope denen wit clot ec ncep doe expression F the Aepercloet Morro le Teterwes F tre indopernstane Verrnrbi2. Depenctork versie cove VO Lrepe Vet) One Clemraut ite Walereh eve clopencbnt Cn true. phe Tnoleperelont Vorebie is ting Tritras condi ton ie O cee doprnstem qhe Veluas Of ane Nervinbre (cuvvedt ond Ve linpe) cone tas” gia, erent eet Bet often inBtrut Of Swittrinp ove pac ot lt ee ¥ Prone le oe Ctr eett thew nit B4rre, te ts tant of Soo itetenP a Oreet); d cto") bye - 2% fot) 4 qilod), Aveo) <_e! consitiovs ej 1(0%), VC0", Lege te on ‘ wat F20- io Whee The thonpe iw a Civanrit, i Oysumed be occur eas Grsitenerp tates Place at boo v recta teste emai” re cunouerforns ty Lael g eo - + gat toe rhe poi strom of EHO OO pent pean ft ce von. | nets F Ue ikw fee? on. ne Conteneity rh C) Use ree consti wit) at Lisle velo") for intel” pad j net chr 4) ; Le gorteot. a eve ‘0 d) dvou opie’ rigit te fied Curent otk vt 2) Pergrrm cirout! ee Ceveutt fraps Lert BOF Oo poder Scanned with CamScanner re I OE Poi can gra P04 fel Syst unt fre COR “Pee vou, f Centre| Bry. cboue Vlhat is tune y Homan, ke Vorpee eer EF CouPey By flow rr oe, Tape eOt Copel Aystour Gote Le Ames, - Verne, ee t @) Phe The time Verporte Coupe og tee poe ©) gy Vesp one. Mattwnatscatg to, ¥ State veoponee - . Mes, )= Chee +as ce, Wess one , Ponte cyeyor CHE) =Chree) +ers ee) pean Covtacw time do vene us Orpligenp cnpuce to Coke anptiiy Cutpres tate tt OOS 5 Htemoly Ptocte- 30 Output LOIN bee trounes suck toy nratue of Stete- trang cont vesporee WENGE Ror for Lease g five ao Zt ty rent Varie of t a Ap Atty ant Preetreauy ig Mofremeate Ai =e- ficatug 4, Ctrle) oe) Stencty cate ves pose pore og pl venaine aver after Cree) has Berm value Gr larfe vote ap £- Thut, CErce) It Pore even dvarffa f. 2% COS lOAS Et 4 Saft WIN be Dore at EAM 40 VOM Cots Loven ot $0, This, 100 c6s ond 6 Et ctr - 1s Zev input vorponse Foor Bice impues for aictinee. Persie fuerf axrturit due outpue verpouse 6 cluety init consti tion Vo ( Git itr Ve Itefe Jat tive t= 0- . duawlee veree = oF pe dv xw/at + Vw or vets Pe on fore o ie cope cp VO LESPR . Pov ali THput source aes & ed 2EE OV Free geste «No extent! . & - forces a Crprder ie tefe sO gone Che, ekeepe iaitiod ste Tete a4 Pe er of dne Suen te THT aL Conclitrnd, Wee "e! ra yotkape 27 PPrn Oh nT a cnc prar pont titms, 2d popu el ariel cca vrie ti “pe findiek capocitrY wal Mek, ave ag er 7 Mt conte op ate SUT eat vues Oe fe Ry ON pc te Tout) LNs Ww fod Ss ool NT Capos 77 palit Doe AE Oe a a ~ Voit | Scanned with CamScanner ~ ese CzVethe&es he pier g punt copes toy Guts $y So lutiou o “ £ Stote UAtti Avo de cee A diz Metreds of oc ta, i Various cfrvuns duet asa . dis cussaol: Te i coe dese precns for forrestans fren ie t Cind thery Uniprat Lotuas. Paar ds bn 94ade ‘a easce fe iy Mecersory Fo Cobain the Stade Vacby Ye) Whrck Sater pres the Verto} he: Simte aguanion Kit) > ARC) A Buct) OF sy drurel. qhis is Collect Sorution oe, f State 2B obion) pbsee haaps-te Glande Output yeoponse oP A Pysloun. Consider die Stvte 23 vation O [:neor time javercant Satin 22, HE) > bree) +B uct) - vom The mabrveos A omd B are constant mobier ales Slade wet: bepet, (D Homogeneous @ lon bewere 2° & domofen @ous EFuotion Lh hi K aad input Contr! are Pero drs tee Fuck if A iS Constant wate? inpus frat Jaap Anges duo forum Lee) = rete) 90 rm it can exist} a Howuouery if input 5 Bee drow output ee , co Cereutt im whee copeciter Biuib ee put: Now trove ts no tape OO Gahetvo 2-9 Consider a seriet be fo Vy Volts. The current tr-toe OF atlernel Vo ltepe applied te fue sips: ¥But Witred vortefe™ doe ctw dives the And Copoceiter Sports diced ™P "hese pores on fue inttiad Condition voment ang t %, 1S Codled homopencos® gystown back parmph die veritient Oo Scanned with CamScanner 2d A “ves: - Mor hesnsenoy vest. Dutt tie pvacence LBS Consteue winks us Ca tee. x Cnet VRS Ove e oPPlicd te tue — Ueey iy ponrdere Ve che ie die caput , 1)= keg ogres deter Nort fons Cth ucey 9 Sued Menten 6 xited nonlin, The State oF anki * on fe Lintor trae invariant Sycteue is BIEN CH Pov h Kee) = Pee) +8 wee) oY hw mePeneous (wnfeced)styttim , ure 20» TH pon have XH) = Axce) > taeere Lap eee bron fem pn bots ides 6xes) Keo) = AYE) or gx xen-XC0)= pes? |sr-wl 2 Xo). =) Xe= Jeno KO? a teeenp ten opines hou inverse, xeve Pears) ay tas ives tee conatron OF 408 LIL homopencur duct foe initrd [unde Hee) = Axe. prom xee) 2 6*es0) 55 opcorued dead hE Les dbroms ito vee) o€ Gimat: Sete Koo) att=e) is diye te ee peeks Ot ert pecauts pines Un fate U Guviced cut b% war eer e property 1 0" is formed se ae Heeb Temes ttsne, MBER OA i denoted by rp! |se apse! ges): schrve ay cated friverk OR thus, Gere eM = ps att wrepresent power Sone! of mahnn Mey det giele 2% = pemet Bet Pr preres © procke dros tion modk tate drowsi tion waakecx ove sted feu propre ge = ~~ . pntiad noture Of the vow). d ate to qe 0 é 1 en rine ne to a a). Geo) oD Se ge 22: 6) gent) cei) 2 ¢ lent) ee ae L since (0) > MeO) te 4. wt i) 4p quent HE” sit eet Cee As pint): avila os OT pe » eI"? Tab aaad tbe TT tit @ ett Senate Te Scanned with CamScanner ° Ke Axteu & R-O* HOU) Mulecpey botasice f tid Huntion oy 6% we ooiat cat p nat z Leeo- axte)} = AL eer] ec 2D but). Lutigvetup tree on took “teten a, Gives ee sett | er OM xcey-xe0) = oyu erat oy Keble & He J, & bucndy, tnidiad Conclition The fintetirme on wee baud side %5 fue veopenee Pte inthial Conliti onan the Second tevin is dhe vespouse dose cope uct). cue Lee us now concider tus non homopenvous Stet mqotion Ast On y = AR tBu, there Xs n-vecty. uc v- vectw. Ae Nun constant mahix Bo nxy Constant wroek: i cprarnp bore Sides Of GT WT XGt) @ AK) = Buct) wut premutts POOP in “at rhe aa 2" Lewy exer> Le wee) | 2 & Bue) Late jratinp dre preeckaop equation betwen Oondt Grves ut} he jou by 2 of t -AT ou- xeo) = f, & BuraT or € Act-7) prttenoe tere eX co) the uc rj whier coneeau? 7 - oft Xaje FC) xco)+ | $LET) BuctiaT » Uchore os pime V9, hen Xue) is fe so setton fo SO efuctionfCotted State Or 1 op the Argstine- Ve qhe ouput Aye sotto WENGE é) Yctl= cx +Pee t-T) 4Dpueé) yee) = Cf dere? €E-1) BuerdlT it yuers c queer th 40-7 bap ued aT at t / Ace) . dws Ce wun ti (c Bp )ucridr 9 Geared output ov ryt yesp? te sect. fa or (©) @ Scanned with CamScanner Vee bee nt bento i te Chee fan octone Cie aacoptmeeten i geeeell | Deve reeeet meee tome cenons aFration lon Howopewcus 69-4. - orem 4-uler is Ger Vetter. No Contos 2: Ute) 1h AF fareue frou, Bove 5 applied te the Sacto, Qor. Comte force fs apy, * 2. Tels Catted free, notes oy A be tre ryctour. Unfirled, Barr Wput verponte. Bs Gt the tom Pots} an pe iprnce incre aes input Veep oureaict 2, fou ¢ . Spt ae Me Spree Funtin Yip) TAL) tue, Aatinp bp Drop+ Buca). Seive fy Les). thon frons fovies OX Keo d= (ct-m) res) 3 > Xte)+ Bue) = yen = Cs -AY! 200) 4] 55-A| Buc Ond tne Plate vechr TLE) § tre Wvertie ace Arene OL WGE 23 uation - Theredwsy Ff opine ae ¢ 2 we= eee fF Ate venety fet tacises Hime Ste lt-te) t ACE ALE 2 Deane xeort Se € Lwad er. Thon Lote B: State orkme peoponse of the 2 OT tue verponee pe Jurbe & eb tadud bg Cfdain is Obtained by Mee= Plt) eee) = L')or-np ize). tere £" \sy-p[ eos Lifes Aten input yeoponte is BPR uc). Mri= C'|se-ayr zee). A: Bow State vespoms eee a Jo CMtpUt or kang biue rorpents *f E'|)se-abt Bue the Sb reels $ Cousplote pretpict wr Fqibe " YOVEC LN ere, Jorgece) reoponte ; querse por wee Vee Clea my) x00 C)sr-a Brues)+ Dues) or Compuration of stole t Alt- Pousiteon oibot Ver= CC eM reese & eh ee Buca y Wie eb bawenp coun F Pte 26 a gon Gee comput abs Sete tren creo wiebe% © POR L dbo acl we B) Cayley Hocus hr Meee : fone iene gon 4) viaponat eaten orm _ an Scanned with CamScanner St is brown drat Sing ee SHH waahin ULIN Ga Obtor rect bog Geer = 2" | s- y aee L A metnod- S44 Find sinte hasition os fw A= |e S/ Seuatin quer = L'hs-apra [62 [124 [72/2 el” os 2-3 ‘2 563 LL st3 ; , > = {3 a Ant ba ae 0 | SHB SHE sessee | ft Fe HF, a _s [-t4) _, = chee Pest. phrase Win te Gere E')ss-mlt 25 act ete stat reset -2%¢26°* Va 2) Power oy The S4oe a £ HOM wambirn ig 2xponantied Gurel lence Conte expyesed ( power saves ay Pfinite Series retued eM os aeneey ME abate --- grea Zane gles 4 dette M84 LAL Ootrinclate drenriation mobix fur rely el. i ey Ases Solution from @At = semth +A s Hh Je. , ate ete ht ty ets jnseagst ogeh po The oe, ar € _-- ee leetes 4h 1 et Lae pk BES eee leper ate pote bret tee RE py ned ar ne ~[ietprefefar| @ 4 Scanned with CamScanner ve 1 ° o [+] Pler[se jax afte [the -- =o [ltetetpes | ie 1 eee o t+ t+ 343 3 e te eer aaa er : Gitar hey ae tet sly Z 2) Cong 4 Heourittor dcoyoun~ Critica) i terror ree The thee: i Me ds vO WM. aoe Haat, over $9 aburx A satcifiet itt owncharabys PAPPDHON: ~The Che xe Bunton 's qrusney CDAtar= dat Cas-nye6 de wachee A wksen is nin maken: be FAS drtatdh te — — —— -- tant dtanse ait Aecorting to couylay tories ton dracewoeny tine waters + fares qe Chex? 22 ushon, Hauer, 7 Fears Ae Qtar + —- — pO A HOMESO: Se sdentchy eels of & wracn: qhe +reorom ‘St uted fr wevatuating daw cfonct di on ~~ oun-a0F firs -On AMT ane Arta = Note that dit funcitron of wher Ait & Linen coms trntion uae antl ) Unite Con fprcients On-E BES Ll. Thaw D fond cifow Eri ee en oe veut ftale clor+aiaA wee ant ‘4 ee @ find fed) ey kb dice = oe Koket iz Zo vaeraed q . _ Atala “@fLi Shae | 12] doprnit® FAVE Ante gprzcn. KOT APl_[lo + Goiutionr ‘ Ute Know gen? [94 | IL), eae deel Az] — ODA ALer 29 replace A ng hye (ae1) (An) = AT SAFE FcA)= Ar- BAtE ate macz|ictel 70]. fio 0). Oo Meee ME) ee Oe Ite, .. ¢ wy ave RPE = 132] 4 pee pene/ $3! ey fe% Date ACH. Scanned with CamScanner ce “ a + « e ars 1 faye dotnraAic grt faye Korats ot Fe fear) oho + 21 = eft 2 Att Ly feard= then; ale ete » disp nalige doe eae * ci pM ee = Re een maber + the Soto ; dure otto M ona. on mei for A= €G45 pbtrin Sunte trerett" que oe > Solution a) fAgl-l Maher pr he |e 5 Fea = ALE [AEA jae eens Obdmsm Sef em Untuad fet ISG I-| ‘ al D(A) (Aa) a ale! cu ADE2. Ther frome Att moenials 2! Ae zy fea 2 totegAz = & at then * onde = rete % 7 firde bide eM = otozewia 1 effi? = veer fes]efeee |=! ot O at. ott o ate 0 = | bré* | a +] tt ihe oad et it ° & ie 1 Gee) wer et lyr Home work | pind £ca)= Alt fe Ae ifs Diapenatigertion Meteo a se amateur wetod of catrneenirey Gitta Soe teen Given sistem mobnr Ao The peor) [2 3 | met onta em Fe eran eae Cae ~ ae . bs deformane exes Ver a 0. brain nce OPIN po eet pnverte oF Mece oa mabre NS ore’): tle 7 2 . ors l= Io agg | 22 ACASSIAT tues @ Scanned with CamScanner tn Veh ter Ale 4 ter Ane 1 2Pen : " 2 Vithe ave [file [44 ‘el, al ° - |ret nal? 1 le C) Meda mabe Ma es d) Meam inverse mal = £) di opousdsye (A) = Az I, ml BAC aly gt | ne [EE atly mt ame le $) Sate prewner tidn masher (fee)= mente! enitere® dure fe ot wbloms crcl Gorutionc, tomer _f p20" ch ove OSL Por dhe fou uring Siptliae find Q). trme veo prnte % anys . System or nr v (ile [2 =]IRb Solutions parte ute have te idents fom ta giver econ a)xeey= ce) Xe) ase Ue dure Et seri" 2 STM ase 4 gaye b bi |ssat! = t aan (erste vrsponsel once ef te sastme: ye faz [lAl caster bomogensent a fe no ngnts se it 5 heomapeneord tent [os e[-(iel > se fre [E ‘| em § 1 )4y 9 ee at oO Z | i {| sew (ie ely er s-1 4) Xee)= err xce) = hee J llel= ~ Selby et b) yee) = Cxce) 2 [2 L | [eel = det reet yoere Bete set (0 ® Scanned with CamScanner eve tet W virein sun. ors x Pow ‘lal \3.2 Seiler ie cand Sipsbm oroutput Yorponte fe Ueve ue) § unit Hep fLrnei tion Occup at 5 V= Jaap [fh » Here O° Pines OMEN ! From tne Qiven toe Stpatien ‘ig jun bomogensous becouns of Hoe input is there. then a [Sma 4 Pee et > Leen 2/82 231° [: | , aye [eee alandoe Rie 2626" —ateac™ |/ ioe tele er gt en) -2ce-r) & x)= eco) +f (2s Sev. fae 5 ”, 2 ey - act et ge gt pee + a Hehe “ye a an co \ + xvd = | 2bbyot® tare we Becaute ef xXco)=O » Phen K6E) ULI be Simpl frect to xi) t_et+ Lem aE [ ot 4 Sustom. or owepue veoponse ik be q) a): ges Creer = Ce gue) alte 7) Buc) BY veep z sta 4 uated aE /* -3e°t fe +4 ie deo = |3 e/[2- pet + Yue 3 Bre ef ue Yarponce: | Home utorie | Por jue fount plofemedel obtain pms ond OUP pe Tee Lee lel seh tga me a Zz | ssf ae Mt Gers fa 2 |[Aly- Obtarned as ef fase en Tee ne 4) [#]8« dix af Scanned with CamScanner ©) Fert he the ton- 5 fine Areueitbon mobs x die). cute TF ao unr Step B applied. A |eedel lute {+ oll 2s sen- fe el-[islals el] Fitye LV! bic, Al - a soon | = +2 | | Ste tome -F 42 oo “) $41 Gan Fat “ste -t_ 2° cab at gab -& Que C' |sxavt = ote a of 422 Pat fn lance Shep it ca Thon were 4s, =! ; Zope L]se-mlt Ruwr= fon) GG") ifs -a st3 He = pe 1 a fou) cst) et adit 3 z $ eee tit Bt2t+e poet ite ‘ fremipron ttt @ Bere vi )sz-rl' Bus) 29 Anat rae lope p y rat witloe Ltd © Miernativesy, wis roud Be o5p2 ” have o Attanpted conv h ite en Soimtron- Tot J. eS + ale F =) en s ¢ le-T)Bu@ddat = i [a ater) yeuen y sud g pu (étet -4 4 tele a [2-40 rn iter e au) a ui- eae’ | tak sedy -|E gape Ya () @ Scanned with CamScanner Ul Find out tine Ves Pouce given ey o 4 a {2 [vce aerck 90> [2 a tue > | uy 3 [Rent | sue . o 4 _|s -4 Seution sa-R=o = | Ol-|-3) 4 fo sez unct BP input OF asycu [ree ana xee)-/6 | S43 esaiste 2 5 finde - portiad Ss 64642) Foon froctron- ere s U' (gay) = | 2-L -o #4) Fe Ste ZA Gen {. pi fears Ena 2 ed at teh fe * sti Sth - nk. ot ett = st a btg.e -2% 424 i AE ret o** Toho ZIr-=s Grew.) = [ibe a stag Ste] -22 422 2 sre rf ba) sun} unt step: ues > Hs. _ | 613 56425 esk= LV yew) tsi ae ee | ly/ - -2 Gries) Ga 7 Fejpor) Fi Fa at = fee gat tase *] werereenrses _— - “4 ds get cee t petise ve

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