Beruflich Dokumente
Kultur Dokumente
At (3, 2):
(1)(50) − (10)(35)
(3, 2) = − = 𝟑𝟎
10
At (3, 3):
1
(3, 3) = 34 − ( ) (0) = 𝟑𝟒
10
At (4, 2):
(10)(34) − (30)(50)
(4, 2) = − = 𝟑𝟖. 𝟔𝟔𝟔𝟕
30
At (4, 3):
10
(4, 3) = 0 − ( ) (0) = 𝟎
30
At (5, 2):
30
(5, 2) = 34 − ( ) (0) = 𝟑𝟒
38.6667
Solution 4:
Where: (Row, Column)
At (3, 2):
1
(3, 2) = 12 − ( ) (25) = 𝟕
5
At (3, 3):
1
(3, 3) = 45 − ( ) (50) = 𝟑𝟓
5
At (3, 4):
1
(3, 4) = 82 − ( ) (60) = 𝟕𝟎
5
At (3, 5):
1
(3, 5) = 84 − ( ) (0) = 𝟖𝟒
5
At (4, 2):
5
(4, 2) = 25 − ( ) (35) = 𝟎; (7)(6) = 𝟒𝟐
7
At (4, 3):
5
(4, 3) = 50 − ( ) (70) = 𝟎; (35)(5) = 𝟏𝟕𝟓
7
At (4, 4):
5
(4, 4) = 60 − ( ) (84) = 𝟎; (70)(4) = 𝟐𝟖𝟎
7
At (4, 5):
5
(4, 5) = 0 − ( ) (0) = 𝟎; (84)(3) = 𝟐𝟓𝟐
7
At (5, 2):
7
(5, 2) = 35 − ( ) (175) = 𝟓. 𝟖𝟑𝟑𝟑
42
At (5, 3):
7
(5, 3) = 70 − ( ) (280) = 𝟐𝟑. 𝟑𝟑𝟑𝟑
42
At (5, 4):
7
(5, 4) = 84 − ( ) (252) = 𝟒𝟐
42
Using the Formula for Steady-State Error:
𝟏
𝒆𝒔𝒕𝒆𝒑 (∞) =
𝟏 + 𝑲𝒑
𝟏
𝒆𝒓𝒂𝒎𝒑 (∞) =
𝑲𝒗
𝟏
𝒆𝒑𝒂𝒓𝒂 (∞) =
𝑲𝒂
Where,
𝑲𝒑 = 𝐥𝐢𝐦 𝑮(𝒔)
𝒔→𝟎
𝑲𝒗 = 𝐥𝐢𝐦 𝒔 𝑮(𝒔)
𝒔→𝟎
𝑲𝒂 = 𝐥𝐢𝐦 𝒔𝟐 𝑮(𝒔)
𝒔→𝟎
Let 𝟎 ≅ 𝟎. 𝟎𝟎𝟎𝟏
𝟓𝟎𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟑𝟓𝟎𝟎(𝟎. 𝟎𝟎𝟎𝟏) + 𝟓𝟎𝟎𝟎
𝑲𝒑 = = 𝟎. 𝟑𝟏
(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟑𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟐𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏) + 𝟗𝟔𝟎
𝟏
𝒆𝒔𝒕𝒆𝒑 (∞) = = 𝟎. 𝟕𝟔𝟑𝟒
𝟏 + 𝟎. 𝟑𝟏
𝟏
𝒆𝒓𝒂𝒎𝒑 (∞) = = 𝟏𝟗𝟎𝟔𝟕𝟐. 𝟑𝟏 ≈ ∞
𝟓. 𝟐𝟒𝟒𝟔 𝒙 𝟏𝟎−𝟔
Let 𝟎 ≅ 𝟎. 𝟎𝟎𝟎𝟏
𝟏
𝒆𝒔𝒕𝒆𝒑 (∞) = = 𝟑𝟏𝟗. 𝟗𝟕𝟐𝟑
𝟑. 𝟏𝟐𝟓𝒙𝟏𝟎−𝟑
𝟓𝟎𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟔𝟓𝟎𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟐𝟔𝟎𝟎𝟎(𝟎. 𝟎𝟎𝟎𝟏) + 𝟑𝟎𝟎𝟎𝟎
𝑲𝒗 = = 𝟑𝟏. 𝟐𝟓𝟐𝟕
(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟑𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟐𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟗𝟔𝟎
𝟏
𝒆𝒓𝒂𝒎𝒑 (∞) = = 𝟎. 𝟎𝟑𝟏
𝟏 + 𝟑𝟏. 𝟐𝟓𝟐𝟕
𝟏
𝒆𝒑𝒂𝒓𝒂 (∞) = = 𝟑𝟏𝟗𝟗𝟕𝟐𝟐. 𝟕 ≈ ∞
𝟑. 𝟏𝟐𝟓𝒙𝟏𝟎−𝟕
Let 𝟎 ≅ 𝟎. 𝟎𝟎𝟎𝟏
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟐𝟒(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟐𝟑(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟐𝟏𝟏𝟔(𝟎. 𝟎𝟎𝟎𝟏) + 𝟏𝟔𝟖𝟎
𝑲𝒑 = = 𝟏𝟕𝟓𝟎𝟏𝟔𝟔𝟒𝟔. 𝟑 ≈ ∞
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟓𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟔𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐
𝟏
𝒆𝒔𝒕𝒆𝒑 (∞) = = 𝟓. 𝟕𝟏𝟑𝟒𝟒𝒙𝟏𝟎−𝟗 ≈ 𝟎
𝟏+ 𝟏𝟕𝟓𝟎𝟏𝟔𝟔𝟒𝟔. 𝟑
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟐𝟒(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟐𝟑(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟐𝟏𝟏𝟔(𝟎. 𝟎𝟎𝟎𝟏) + 𝟏𝟔𝟖𝟎 ∞
𝑲𝒗 = (𝟎. 𝟎𝟎𝟏) [ ] = 𝟏𝟕𝟓𝟎𝟏. 𝟔 ≈
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟓𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟔𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐 ∞
𝟏
𝒆𝒓𝒂𝒎𝒑 (∞) = = 𝟓. 𝟕𝟏𝟑𝟒𝟒𝒙𝟏𝟎−𝟓 ≈ 𝟎
𝟏𝟕𝟓𝟎𝟏. 𝟔
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟐𝟒(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟐𝟑(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟐 + 𝟐𝟏𝟏𝟔(𝟎. 𝟎𝟎𝟎𝟏) + 𝟏𝟔𝟖𝟎 𝟕
𝑲𝒂 = (𝟎. 𝟎𝟎𝟏)𝟐 [ ] = 𝟏. 𝟕𝟓𝟎𝟏𝟔 ≈
(𝟎. 𝟎𝟎𝟎𝟏)𝟓 + 𝟓𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟒 + 𝟐𝟗𝟔(𝟎. 𝟎𝟎𝟎𝟏)𝟑 + 𝟗𝟔𝟎(𝟎. 𝟎𝟎𝟎𝟏)𝟐 𝟒
𝟏 𝟒
𝒆𝒑𝒂𝒓𝒂 (∞) = = 𝟎. 𝟓𝟕𝟏𝟑𝟕𝟔 =
𝟏. 𝟕𝟓𝟎𝟏𝟔 𝟕
Let 𝟎 ≅ 𝟎. 𝟎𝟎𝟎𝟏
𝟏𝟎𝟎
𝑲𝒑 = = 𝟐𝟓
(𝟎. 𝟎𝟎𝟎𝟏) + 𝟒
𝟏 𝟏
𝒆𝒔𝒕𝒆𝒑 (∞) = =
𝟏 + 𝟐𝟓 𝟐𝟔
𝟏𝟎𝟎 𝟏𝟎𝟎
𝑲𝒗 = (𝟎. 𝟎𝟎𝟎𝟏) [ ]= = 𝟐. 𝟒𝟗𝟗𝒙𝟏𝟎−𝟑
(𝟎. 𝟎𝟎𝟎𝟏) + 𝟒 𝟒𝟎𝟎𝟎𝟏
𝟏
𝒆𝒓𝒂𝒎𝒑 (∞) = = 𝟒𝟎𝟎. 𝟎𝟏
𝟐. 𝟒𝟗𝟗𝒙𝟏𝟎−𝟑
𝟏𝟎𝟎 𝟏𝟎𝟎
𝑲𝒂 = (𝟎. 𝟎𝟎𝟎𝟏)𝟐 [ ]= = 𝟐. 𝟒𝟗𝟗𝒙𝟏𝟎−𝟕
(𝟎. 𝟎𝟎𝟎𝟏) + 𝟒 𝟒𝟎𝟎𝟎𝟏𝟎𝟎
𝟏
𝒆𝒑𝒂𝒓𝒂 (∞) = = 𝟒𝟎𝟎𝟎𝟏𝟎𝟎 ≈ ∞
𝟐. 𝟒𝟗𝟗𝒙𝟏𝟎−𝟕
8. Assessment:
Solution:
System (check if stable) Static error Steady-state errors
constants
𝑲𝒑 𝑲𝒗 𝑲𝒂 𝒆𝒔𝒕𝒆𝒑 (∞) 𝒆𝒓𝒂𝒎𝒑 (∞) 𝒆𝒑𝒂𝒓𝒂 (∞)
Where K = 10
𝟎 𝟏 𝟎
∞ 𝟎 𝟔
𝟎 𝟔 𝟎
Where 𝑲 = 𝟏𝟎𝟔
𝟎 𝟓𝟎𝟎𝟎𝟎𝟎 𝟎 𝟑
∞ 𝟎
𝟎 𝟑 𝟎 𝟓𝟎𝟎𝟎𝟎𝟎
a.) In Matlab:
Pole-Zero
b.) In Matlab:
Pole-Zero