Control ch 7 part 2.pdf
- 1. &
& E(5)G1st +D(s]]G2(st= c(s)
S ↑ trackingerror
((s) = E(s) G ,(s)Gz(s) + D(S)G2(s)
E(s) = R(s) -
C (S)
E(s) = R(s) - E(s)G,
(s)G2(s) -
D(s)G2 (s)
E(s)[1 + G,
(5)
Gulst] = R(s) -
D(S) Ge (5)
1
E(s) =
It G(5)Ge(s)R(s)-Gels] D(S)
I G,
(5) Ge(s)
s
ep(N) =him 0
1+G(5)Ge(s)R(s) ,
e(x)=-him
SGe(s)
D(s)
5 o It G,
(5) Ge(s)