Download e-book for kindle: Matlab 6 per l'ingegneria e le scienze by Palm W J

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Extra info for Matlab 6 per l'ingegneria e le scienze

Example text

T/. However, the steady state of the system with dead-zone is a little removed from the desired bank angle (an error of about 20%). By suitably adjusting the threshold of the dead-zone, a, a trade-off between the steady state error and the transient behavior can be achieved. ) 6 4 2 0 −2 −4 −6 0 Time (s) Fig. 9 actuator, resulting in a nonlinear control system. However, all the three examples deal with achieving a constant desired state at sufficiently large but unspecified time – an objective termed as regulation of the system.

8. 8. One of the simplest automatic control systems from implementation viewpoint is based on an switching (or on–off ) controller that alternately applies either the maximum possible control input magnitude in the desired direction or a 16 1 Introduction Measurement Noise, w(t) Desired output, q 1 ≤ q(t) ≤ q 2 Motor + Switching System Process Noise,v(t) Rotor + Output, q(t) Torque, u(t) Encoder Fig. 9 Switching control system for a rotor zero control input. Consider a rotor of moment of inertia, J , driven by a DC motor that can apply a maximum torque, um , in either direction.

T/, and c1 ; c2 are arbitrary scalar constants. 1), it is possible to determine whether it is linear. If the governing differential equations do not contain products and transcendental functions of the state and input variables and their time derivatives, the system is linear. t/ is the input vector. ti Ä t Ä tf /. 23) remains sufficiently small. 2/ denotes the second- and higher-order terms involving control and state deviations. ti /. 26). For the time being, we are ignoring the disturbance inputs to the system, which can be easily included through an additional term on the right-hand side.

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