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Block Diagrams in Control Systems

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0% found this document useful (0 votes)
24 views43 pages

Block Diagrams in Control Systems

Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Continuous Control Systems

MEEEE4600
Fall 2025, Week 6

Ali Dadgar
Department of Mechanical Engineering
Department of Electrical Engineering

1
Block diagrams with disturbance, review

These systems are deemed to have two inputs: R(s) and D(s)
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Then the response of the system will be a superposition of tow responses.


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D(s)
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Gf

+ +
+ + +

O
U
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E
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0
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R Gp Y (s)
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G1
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Gc
-

H
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! ! ! !
Y !! Y !! Y !! Y !!
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Ytotal = ! R(s) + ! D(s) →↑ obtain ! R(s) and D(s)


R D=0 D R=0 R D=0 D !R=0
Response when both
inputs, D and R exist.
<latexit sha1_base64="IzVwxNUNWTQTOIPzq+MGZp6CrDE=">AAAB8nicbVBNS8NAEN34WetX1aOXxSIIYkhEqhehIEKPVeyHpKFstpt26WYTdidCCf0ZXjwo4tVf481/47bNQVsfDDzem2FmXpAIrsFxvq2l5ZXVtfXCRnFza3tnt7S339Rxqihr0FjEqh0QzQSXrAEcBGsnipEoEKwVDG8mfuuJKc1j+QCjhPkR6UseckrASN4tvsZntUd8iu+7pbJjO1PgReLmpIxy1Lulr04vpmnEJFBBtPZcJwE/Iwo4FWxc7KSaJYQOSZ95hkoSMe1n05PH+NgoPRzGypQEPFV/T2Qk0noUBaYzIjDQ895E/M/zUgiv/IzLJAUm6WxRmAoMMZ78j3tcMQpiZAihiptbMR0QRSiYlIomBHf+5UXSPLfdil25uyhX7TyOAjpER+gEuegSVVEN1VEDURSjZ/SK3iywXqx362PWumTlMwfoD6zPHydyjyw=</latexit>

E = →HY + R (1) From (1)

Y = Gp [D + G1 U ] (2)
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Gp D + Gp G1 [Gc + Gf ]R
<latexit sha1_base64="AaEIC9cymaRhapOe5D6bd53Zaxg=">AAAB+HicbVBNS8NAEN3Ur1o/GvXoZbEIghASkepFKCjUYwXTVtIQNttNu3SzCbsboYb+Ei8eFPHqT/Hmv3Hb5qCtDwYe780wMy9MGZXKtr+N0srq2vpGebOytb2zWzX39tsyyQQmLk5YIrohkoRRTlxFFSPdVBAUh4x0wtH11O88EiFpwu/VOCV+jAacRhQjpaXArD7AK9gMUu/mtBk4rh+YNduyZ4DLxClIDRRoBeZXr5/gLCZcYYak9Bw7VX6OhKKYkUmll0mSIjxCA+JpylFMpJ/PDp/AY630YZQIXVzBmfp7IkexlOM41J0xUkO56E3F/zwvU9Gln1OeZopwPF8UZQyqBE5TgH0qCFZsrAnCgupbIR4igbDSWVV0CM7iy8ukfWY5dat+d15rWEUcZXAIjsAJcMAFaIBb0AIuwCADz+AVvBlPxovxbnzMW0tGMXMA/sD4/AE3AJF3</latexit>

Y =
<latexit sha1_base64="7xBFrDBOBdJhYCPTDZNlne+vHK4=">AAACBXicbVDLSsNAFJ3UV62vqEtdDBZBKJREpLoRCipxWcU+JA1hMp20QycPZiZCCd248VfcuFDErf/gzr9x0mahrQcu93DOvczc48WMCmkY31phYXFpeaW4Wlpb39jc0rd3WiJKOCZNHLGIdzwkCKMhaUoqGenEnKDAY6TtDS8yv/1AuKBReCdHMXEC1A+pTzGSSnL1/Xt4Di03voSVrFmuaVsuvqpYrn/ruHrZqBoTwHli5qQMcjRc/avbi3ASkFBihoSwTSOWToq4pJiRcambCBIjPER9YisaooAIJ51cMYaHSulBP+KqQgkn6u+NFAVCjAJPTQZIDsSsl4n/eXYi/TMnpWGcSBLi6UN+wqCMYBYJ7FFOsGQjRRDmVP0V4gHiCEsVXEmFYM6ePE9ax1WzVq3dnJTr1TyOItgDB+AImOAU1ME1aIAmwOARPINX8KY9aS/au/YxHS1o+c4u+APt8wc3zpXR</latexit>

Y = Gp D + Gp G1 [Gc E + Gf R]
<latexit sha1_base64="e/Ic64v451u1G8WQQ7J2orAmFaE=">AAAB+HicbVDLSsNAFL3xWeujUZduBosgCCERqW6Egoguq5i20IYwmU7aoZMHMxOhhn6JGxeKuPVT3Pk3TtsstPXA5R7OuZe5c4KUM6ls+9tYWl5ZXVsvbZQ3t7Z3KubuXlMmmSDUJQlPRDvAknIWU1cxxWk7FRRHAaetYHg18VuPVEiWxA9qlFIvwv2YhYxgpSXfrLjoEt345Bqd6Bbe+2bVtuwp0CJxClKFAg3f/Or2EpJFNFaEYyk7jp0qL8dCMcLpuNzNJE0xGeI+7Wga44hKL58ePkZHWumhMBG6YoWm6u+NHEdSjqJAT0ZYDeS8NxH/8zqZCi+8nMVppmhMZg+FGUcqQZMUUI8JShQfaYKJYPpWRAZYYKJ0VmUdgjP/5UXSPLWcmlW7O6vWrSKOEhzAIRyDA+dQh1togAsEMniGV3gznowX4934mI0uGcXOPvyB8fkDshCRIQ==</latexit>

U = Gc E + Gf R (3) 1 + G c G p G1 H
2
<latexit sha1_base64="WqsIUHyQKVyvJ/hc1P2mZnOcF24=">AAACGnicbZDLSsNAFIYnXmu9RV26GSyCUAiJSHUjFBTSZRV7kTSEyXTSDp1cmJkIJfQ53Pgqblwo4k7c+DZO2iy09cAwP99/DjPn9xNGhTTNb21peWV1bb20Ud7c2t7Z1ff22yJOOSYtHLOYd30kCKMRaUkqGekmnKDQZ6Tjj65yv/NAuKBxdCfHCXFDNIhoQDGSCnm6dQ8vYS/gCGe2l1zDKlSX7VmO7eGq7QXu7SSzcohnvDHx9IppmNOCi8IqRAUU1fT0z14/xmlIIokZEsKxzES6GeKSYkYm5V4qSILwCA2Io2SEQiLcbLraBB4r0odBzNWJJJzS3xMZCoUYh77qDJEcinkvh/95TiqDCzejUZJKEuHZQ0HKoIxhnhPsU06wZGMlEOZU/RXiIVI5SZVmWYVgza+8KNqnhlUzajdnlbpRxFECh+AInAALnIM6aIAmaAEMHsEzeAVv2pP2or1rH7PWJa2YOQB/Svv6AXdengA=</latexit>

Gp D + Gp G1 [Gc + Gf ]R
Y =
1 + G c G p G1 H

!
Y !!
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G1 Gp (Gc + Gf )
! = = TR (s)
R D=0 1 + G c Gp G 1 H

!
Y !!
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Gp
! = = TD (s)
D R=0 1 + G c Gp G1 H

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Ytotal = TR (s)R(s) + TD (s)D(s)

3
Multivariate Systems

Y1 Y2 Y1 Y2
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=? =? =? =?
R1 G1 Y1
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R1 R1 R2 R2
-

Y Gi Ri G3Y2 1
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G2
5ᵗʰ G
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G3
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-
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G4 Y2
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Transient Response and Steady-state Response

Final PEma ent


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C(t) = Ctr (t) + Css (t)


Initial

1 1 I to
15
Absolute stability, Relative stability, Steady-state Error

Absolute stability:
Whether the system is stable or unstable

A system is stable if:


In the absence of any disturbance / input à output remains on the same state.

A system is critically stable if:


The oscillation continues forever.

A system is unstable if:


The output diverges w/o bound from its equilibrium state.

16
Ali Dadgar – Department of Mechanical Engineering – Columbia University
First order systems
+ 1
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Unit step response curve

At zero:
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dc !!
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slope = 819
dt !t=0
!
1 →t/T !!
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=→ e !
T t=0
1
<latexit sha1_base64="4yzZKDc0QLxcNomPjWbkVHYH9yI=">AAAB+HicbVBNS8NAEJ3Ur1o/GvXoZbEIXixJkepFKHjxWKFf0Iay2W7apZtN2N0INeSXePGgiFd/ijf/jds2B219MPB4b4aZeX7MmdKO820VNja3tneKu6W9/YPDsn103FFRIgltk4hHsudjRTkTtK2Z5rQXS4pDn9OuP72b+91HKhWLREvPYuqFeCxYwAjWRhraZXSLLgeBxCR1s7SVDe2KU3UWQOvEzUkFcjSH9tdgFJEkpEITjpXqu06svRRLzQinWWmQKBpjMsVj2jdU4JAqL10cnqFzo4xQEElTQqOF+nsixaFSs9A3nSHWE7XqzcX/vH6igxsvZSJONBVkuShIONIRmqeARkxSovnMEEwkM7ciMsEmBW2yKpkQ3NWX10mnVnXr1frDVaVRy+MowimcwQW4cA0NuIcmtIFAAs/wCm/Wk/VivVsfy9aClc+cwB9Ynz+BW5JT</latexit>

=→
T

Negative sign means:


exponential decays with
a rate proportional to 1/T
<latexit sha1_base64="n/HDfT1ZEkWDN4FzDhXt/Glx0hs=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0xEqseCF48VW1toQ9lsN+3SzSbsToRS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8MJXCoOd9O4W19Y3NreJ2aWd3b/+gfHj0aJJMM95kiUx0O6SGS6F4EwVK3k41p3EoeSsc3c781hPXRiSqgeOUBzEdKBEJRtFKD/5Fo1eueK43B1klfk4qkKPeK391+wnLYq6QSWpMx/dSDCZUo2CST0vdzPCUshEd8I6lisbcBJP5qVNyZpU+iRJtSyGZq78nJjQ2ZhyHtjOmODTL3kz8z+tkGN0EE6HSDLlii0VRJgkmZPY36QvNGcqxJZRpYW8lbEg1ZWjTKdkQ/OWXV8njpetX3er9VaXm5nEU4QRO4Rx8uIYa3EEdmsBgAM/wCm+OdF6cd+dj0Vpw8plj+APn8weJIY1D</latexit>

I
18
Ali Dadgar – Department of Mechanical Engineering – Columbia University
• Unit ramp response of First-Order Systems

cist a
I 1 PFA JUL

Clt a t T tett
closet
error ect reef cut nett clot zo
ect

19
Unit ramp response curve

O
i

20
• Unit impulse response of First-Order Systems

1
<latexit sha1_base64="mbz6IVSflUHMqoeZ2GnISU7gqd0=">AAACB3icbVDLSgMxFM3UV62vUZeCBItQEcqkSHUjFLpxWaEv6Awlk2ba0ExmSDJCGbpz46+4caGIW3/BnX9j2s5CWw9cOJxzL/fe48ecKe0431ZubX1jcyu/XdjZ3ds/sA+P2ipKJKEtEvFIdn2sKGeCtjTTnHZjSXHoc9rxx/WZ33mgUrFINPUkpl6Ih4IFjGBtpL59Wi+pC3gL3UBikqJp2lSXaApdzUKqIOrbRafszAFXCcpIEWRo9O0vdxCRJKRCE46V6iEn1l6KpWaE02nBTRSNMRnjIe0ZKrBZ46XzP6bw3CgDGETSlNBwrv6eSHGo1CT0TWeI9UgtezPxP6+X6ODGS5mIE00FWSwKEg51BGehwAGTlGg+MQQTycytkIywSUSb6AomBLT88ippV8qoWq7eXxVrlSyOPDgBZ6AEELgGNXAHGqAFCHgEz+AVvFlP1ov1bn0sWnNWNnMM/sD6/AEOpJeB</latexit>

C(s) = →1
Ts + 1
1 1
<latexit sha1_base64="QkJQIedKk75Sc54EhA7d103+O3Q=">AAACBnicbZDLSsNAFIZP6q3WW9SlCINFEISaFKluhIIblxV6gzaUyXTSDp1MwsxEKCErN76KGxeKuPUZ3Pk2Ti+gVn8Y+PjPOZw5vx9zprTjfFq5peWV1bX8emFjc2t7x97da6ookYQ2SMQj2faxopwJ2tBMc9qOJcWhz2nLH11P6q07KhWLRF2PY+qFeCBYwAjWxurZh1eoG0hMUjdL69k3q1P3rJ717KJTcqZCf8GdQxHmqvXsj24/IklIhSYcK9VxnVh7KZaaEU6zQjdRNMZkhAe0Y1DgkCovnZ6RoWPj9FEQSfOERlP350SKQ6XGoW86Q6yHarE2Mf+rdRIdXHopE3GiqSCzRUHCkY7QJBPUZ5ISzccGMJHM/BWRITZJaJNcwYTgLp78F5rlklspVW7Pi9XyPI48HMARnIALF1CFG6hBAwjcwyM8w4v1YD1Zr9bbrDVnzWf24Zes9y/utJgd</latexit>

=
T s + 1/T
1 →(t/T )
<latexit sha1_base64="VtTJlxu6e9bN21dcfDTQUNEM0Sc=">AAACFnicbVA9SwNBEN3zM8avU0ubxSAkhfFORG2EgI1lhCQKuRj2NnvJ4t7usTunhON+hY1/xcZCEVux89+4iSk0+mDg8d4MM/PCRHADnvfpzMzOzS8sFpaKyyura+vuxmbLqFRT1qRKKH0VEsMEl6wJHAS7SjQjcSjYZXhzNvIvb5k2XMkGDBPWiUlf8ohTAlbqunuBULKveX8ARGt1F2Bahgo+xUGkCc38PGvk7DrbK8N+o5J33ZJX9cbAf4k/ISU0Qb3rfgQ9RdOYSaCCGNP2vQQ6GdHAqWB5MUgNSwi9IX3WtlSSmJlONn4rx7tW6eFIaVsS8Fj9OZGR2JhhHNrOmMDATHsj8T+vnUJ00sm4TFJgkn4vilKBQeFRRrjHNaMghpYQqrm9FdMBsXmATbJoQ/CnX/5LWgdV/6h6dHFYqh1M4iigbbSDyshHx6iGzlEdNRFF9+gRPaMX58F5cl6dt+/WGWcys4V+wXn/Atg2nns=</latexit>

→↑ c(t) = e
T

21
Unique property of LTI systems

<latexit sha1_base64="msYD1cqow0806U+1aMNvU00DaiU=">AAAB/HicbVDLSgNBEJyNrxhfqzl6GQxCPCTuBolehIAXjxHygmQNs5PZZHD2wUyvsCzxV7x4UMSrH+LNv3GS7EETCxqKqm66u9xIcAWW9W3k1tY3Nrfy24Wd3b39A/PwqKPCWFLWpqEIZc8ligkesDZwEKwXSUZ8V7Cu+3Az87uPTCoeBi1IIub4ZBxwj1MCWhqaRVqGM3yNbVzB7D6twHlrOjRLVtWaA68SOyMllKE5NL8Go5DGPguACqJU37YicFIigVPBpoVBrFhE6AMZs76mAfGZctL58VN8qpUR9kKpKwA8V39PpMRXKvFd3ekTmKhlbyb+5/Vj8K6clAdRDCygi0VeLDCEeJYEHnHJKIhEE0Il17diOiGSUNB5FXQI9vLLq6RTq9r1av3uotSoZXHk0TE6QWVko0vUQLeoidqIogQ9o1f0ZjwZL8a78bFozRnZTBH9gfH5AzJhkoY=</latexit>

Derivative of unit ramp Unit step input: c(t) = 1 → e→t/T


<latexit sha1_base64="0c/rJDacI9UsJrIjeC5Jjsds22o=">AAACAXicbVDLSgNBEJyNrxhfq14EL4NBiEjibpDoRQh48Rhh84BkDbOTSTJk9sFMrxCWePFXvHhQxKt/4c2/cZLsQaMFDUVVN91dXiS4Asv6MjJLyyura9n13Mbm1vaOubvXUGEsKavTUISy5RHFBA9YHTgI1ookI74nWNMbXU/95j2TioeBA+OIuT4ZBLzPKQEtdc0DWoATfIUBF7GDT7HD7pIinDmTrpm3StYM+C+xU5JHKWpd87PTC2nsswCoIEq1bSsCNyESOBVskuvEikWEjsiAtTUNiM+Um8w+mOBjrfRwP5S6AsAz9edEQnylxr6nO30CQ7XoTcX/vHYM/Us34UEUAwvofFE/FhhCPI0D97hkFMRYE0Il17diOiSSUNCh5XQI9uLLf0mjXLIrpcrteb5aTuPIokN0hArIRheoim5QDdURRQ/oCb2gV+PReDbejPd5a8ZIZ/bRLxgf3wz6lA4=</latexit>

Unit ramp input: c(t) = t → T + T e→t/T

1 →t/T
<latexit sha1_base64="YO7Y+RC3FF0Mqi+k/pS6e3HLE5Q=">AAACBXicbVC7SgNBFJ31GeNr1VKLwSDEwrgbJNoIARvLCHlBsobZyWwyZPbBzF0hLNvY+Cs2ForY+g92/o2TZAtNPHDhcM693HuPGwmuwLK+jaXlldW19dxGfnNre2fX3NtvqjCWlDVoKELZdoliggesARwEa0eSEd8VrOWObiZ+64FJxcOgDuOIOT4ZBNzjlICWeuYRLcIpvsZdTxKKEztN6ilm98kZnNfTnlmwStYUeJHYGSmgDLWe+dXthzT2WQBUEKU6thWBkxAJnAqW5ruxYhGhIzJgHU0D4jPlJNMvUnyilT72QqkrADxVf08kxFdq7Lu60ycwVPPeRPzP68TgXTkJD6IYWEBni7xYYAjxJBLc55JREGNNCJVc34rpkOg8QAeX1yHY8y8vkma5ZFdKlbuLQrWcxZFDh+gYFZGNLlEV3aIaaiCKHtEzekVvxpPxYrwbH7PWJSObOUB/YHz+APNalu8=</latexit>

Derivative of unit step Unit impulse input: c(t) = e


T

The response of a system to the derivative of an input signal can be also computed by differentiating the
response of the system to the original signal:

System System
<latexit sha1_base64="18ACQFFP6dTQpegOuOPXKy1lT3k=">AAAB8HicbVDLSgMxFL3js9ZX1aWbYBHqpsyIVJcFNy4r2Ie0Q8mkmTY0mRmSO0Ip/Qo3LhRx6+e482/MtLPQ1gOBwzn3kHtPkEhh0HW/nbX1jc2t7cJOcXdv/+CwdHTcMnGqGW+yWMa6E1DDpYh4EwVK3kk0pyqQvB2MbzO//cS1EXH0gJOE+4oOIxEKRtFKj71BjIRV8KJfKrtVdw6ySryclCFHo1/6slmWKh4hk9SYrucm6E+pRsEknxV7qeEJZWM65F1LI6q48afzhWfk3CoDEsbavsgukKm/E1OqjJmowE4qiiOz7GXif143xfDGn4ooSZFHbPFRmEqCMcmuJwOhOUM5sYQyLeyuhI2opgxtR0Vbgrd88ippXVa9WrV2f1Wu1/I6CnAKZ1ABD66hDnfQgCYwUPAMr/DmaOfFeXc+FqNrTp45gT9wPn8A0QWPvg==</latexit>

ċ(t)
<latexit sha1_base64="QHod4zGaoL5ENWU0pplO7M6wcgY=">AAAB8HicbVDLSgMxFL3js9ZX1aWbYBHqpsyIVJcFNy4r2Ie0Q8mkmTY0mRmSO0IZ+hVuXCji1s9x59+YtrPQ1gOBwzn3kHtPkEhh0HW/nbX1jc2t7cJOcXdv/+CwdHTcMnGqGW+yWMa6E1DDpYh4EwVK3kk0pyqQvB2Mb2d++4lrI+LoAScJ9xUdRiIUjKKVHnuDGImu4EW/VHar7hxklXg5KUOORr/0ZbMsVTxCJqkxXc9N0M+oRsEknxZ7qeEJZWM65F1LI6q48bP5wlNybpUBCWNtX4Rkrv5OZFQZM1GBnVQUR2bZm4n/ed0Uwxs/E1GSIo/Y4qMwlQRjMrueDITmDOXEEsq0sLsSNqKaMrQdFW0J3vLJq6R1WfVq1dr9Vbley+sowCmcQQU8uIY63EEDmsBAwTO8wpujnRfn3flYjK45eeYE/sD5/AHn7o/N</latexit>

ṙ(t)
<latexit sha1_base64="tXqjQfgpR0UHDi9iZN2+C7hOL7k=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BItQLyURqR4LXjxWsB/QhrLZbtqlu5uwOxFK6V/w4kERr/4hb/4bN20O2vpg4PHeDDPzwkRwg5737RQ2Nre2d4q7pb39g8Oj8vFJ28SppqxFYxHrbkgME1yxFnIUrJtoRmQoWCec3GV+54lpw2P1iNOEBZKMFI84JZhJtIqXg3LFq3kLuOvEz0kFcjQH5a/+MKapZAqpIMb0fC/BYEY0cirYvNRPDUsInZAR61mqiGQmmC1unbsXVhm6UaxtKXQX6u+JGZHGTGVoOyXBsVn1MvE/r5didBvMuEpSZIouF0WpcDF2s8fdIdeMophaQqjm9laXjokmFG08JRuCv/ryOmlf1fx6rf5wXWnU8ziKcAbnUAUfbqAB99CEFlAYwzO8wpsjnRfn3flYthacfOYU/sD5/AFhrI3J</latexit>

<latexit sha1_base64="c97sMQzLBsryhst7ma+62S0NGYA=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BItQLyURqR4LXjxWsB/QhrLZbtqlu5uwOxFK6V/w4kERr/4hb/4bN20O2vpg4PHeDDPzwkRwg5737RQ2Nre2d4q7pb39g8Oj8vFJ28SppqxFYxHrbkgME1yxFnIUrJtoRmQoWCec3GV+54lpw2P1iNOEBZKMFI84JZhJuoqXg3LFq3kLuOvEz0kFcjQH5a/+MKapZAqpIMb0fC/BYEY0cirYvNRPDUsInZAR61mqiGQmmC1unbsXVhm6UaxtKXQX6u+JGZHGTGVoOyXBsVn1MvE/r5didBvMuEpSZIouF0WpcDF2s8fdIdeMophaQqjm9laXjokmFG08JRuCv/ryOmlf1fx6rf5wXWnU8ziKcAbnUAUfbqAB99CEFlAYwzO8wpsjnRfn3flYthacfOYU/sD5/AF4lY3Y</latexit>

r(t) c(t)

22
Ali Dadgar – Department of Mechanical Engineering – Columbia University
Second order systems
J c̈ + B ċ = T
<latexit sha1_base64="cto5ZdJQoRX3Y48OBDW5QYqycXU=">AAAB/3icbVDLSsNAFL3xWesrKrhxM1gEQShJkepGKLoRVxX6gjaUyWTSDp08mJkIJXbhr7hxoYhbf8Odf+OkzUJbDwwczr2He+a4MWdSWda3sbS8srq2Xtgobm5t7+yae/stGSWC0CaJeCQ6LpaUs5A2FVOcdmJBceBy2nZHN9m8/UCFZFHYUOOYOgEehMxnBCst9c3Du57nRQoRdIauezN2hRp9s2SVrSnQIrFzUoIc9b75pc0kCWioCMdSdm0rVk6KhWKE00mxl0gaYzLCA9rVNMQBlU46zT9BJ1rxkB8J/UKdIFN/O1IcSDkOXL0ZYDWU87NM/G/WTZR/6aQsjBNFQzI75CccqQhlZSCPCUoUH2uCiWA6KyJDLDBRurKiLsGe//IiaVXKdrVcvT8v1Sp5HQU4gmM4BRsuoAa3UIcmEHiEZ3iFN+PJeDHejY/Z6pKRew7gD4zPH8cek/o=</latexit>

J
<latexit sha1_base64="x7iINETu1Wbf13cJytmdo37O/jk=">AAAB6HicbVDLSgNBEOyNrxhfUY9eBoPgKewGiR4DXsRTAuYByRJmJ73JmNnZZWZWCCFf4MWDIl79JG/+jZNkD5pY0FBUddPdFSSCa+O6305uY3Nreye/W9jbPzg8Kh6ftHScKoZNFotYdQKqUXCJTcONwE6ikEaBwHYwvp377SdUmsfywUwS9CM6lDzkjBorNe77xZJbdhcg68TLSAky1PvFr94gZmmE0jBBte56bmL8KVWGM4GzQi/VmFA2pkPsWipphNqfLg6dkQurDEgYK1vSkIX6e2JKI60nUWA7I2pGetWbi/953dSEN/6UyyQ1KNlyUZgKYmIy/5oMuEJmxMQSyhS3txI2oooyY7Mp2BC81ZfXSatS9qrlauOqVKtkceThDM7hEjy4hhrcQR2awADhGV7hzXl0Xpx352PZmnOymVP4A+fzB59DjMk=</latexit>

B
<latexit sha1_base64="oQ/BpnPL0Jbi/xyIadbFV7POudE=">AAAB6HicbVDLTgJBEOzFF+IL9ehlIjHxRHaJQY9ELx4hkUcCGzI79MLI7OxmZtaEEL7AiweN8eonefNvHGAPClbSSaWqO91dQSK4Nq777eQ2Nre2d/K7hb39g8Oj4vFJS8epYthksYhVJ6AaBZfYNNwI7CQKaRQIbAfju7nffkKleSwfzCRBP6JDyUPOqLFS47ZfLLlldwGyTryMlCBDvV/86g1ilkYoDRNU667nJsafUmU4Ezgr9FKNCWVjOsSupZJGqP3p4tAZubDKgISxsiUNWai/J6Y00noSBbYzomakV725+J/XTU1440+5TFKDki0XhakgJibzr8mAK2RGTCyhTHF7K2EjqigzNpuCDcFbfXmdtCplr1quNq5KtUoWRx7O4BwuwYNrqME91KEJDBCe4RXenEfnxXl3PpatOSebOYU/cD5/AJMjjME=</latexit>

Js2 C(s) + BsC(s) = T (s)


<latexit sha1_base64="PBk79OFwJCZS19t2/b4aDv6dZbU=">AAACAXicbZDLSgMxFIbP1Futt1E3gptgESpCmSlS3QjFbsRVhd6gHUsmTdvQzIUkI5ShbnwVNy4UcetbuPNtTKez0OqBkI//P4fk/G7ImVSW9WVklpZXVtey67mNza3tHXN3rymDSBDaIAEPRNvFknLm04ZiitN2KCj2XE5b7rg681v3VEgW+HU1Canj4aHPBoxgpaWeeXAj70rVgjxBp+hKJnCJ6vrqmXmraCWF/oKdQh7SqvXMz24/IJFHfUU4lrJjW6FyYiwUI5xOc91I0hCTMR7SjkYfe1Q6cbLBFB1rpY8GgdDHVyhRf07E2JNy4rm608NqJBe9mfif14nU4MKJmR9Givpk/tAg4kgFaBYH6jNBieITDZgIpv+KyAgLTJQOLadDsBdX/gvNUtEuF8u3Z/lKKY0jC4dwBAWw4RwqcA01aACBB3iCF3g1Ho1n4814n7dmjHRmH36V8fENdFKTpg==</latexit>

+ T
<latexit sha1_base64="z/vArVQT6avm1pQM4xWQ38xe51M=">AAAB6HicbVDLSgNBEOyNrxhfUY9eBoPgKewGiR4DXjwmkBckS5iddJIxs7PLzKwQlnyBFw+KePWTvPk3TpI9aGJBQ1HVTXdXEAuujet+O7mt7Z3dvfx+4eDw6PikeHrW1lGiGLZYJCLVDahGwSW2DDcCu7FCGgYCO8H0fuF3nlBpHsmmmcXoh3Qs+YgzaqzUaA6KJbfsLkE2iZeREmSoD4pf/WHEkhClYYJq3fPc2PgpVYYzgfNCP9EYUzalY+xZKmmI2k+Xh87JlVWGZBQpW9KQpfp7IqWh1rMwsJ0hNRO97i3E/7xeYkZ3fsplnBiUbLVolAhiIrL4mgy5QmbEzBLKFLe3EjahijJjsynYELz1lzdJu1L2quVq46ZUq2Rx5OECLuEaPLiFGjxAHVrAAOEZXuHNeXRenHfnY9Wac7KZc/gD5/MHrmuM0w==</latexit>

<latexit sha1_base64="wlmJ9oEjl8e8izV0Fl0bOR+SIDk=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4KkmR6rHgxWML9gPaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/nY3Nre2d3cJecf/g8Oi4dHLa1nGqGLZYLGLVDahGwSW2DDcCu4lCGgUCO8Hkbu53nlBpHssHM03Qj+hI8pAzaqzUVINS2a24C5B14uWkDDkag9JXfxizNEJpmKBa9zw3MX5GleFM4KzYTzUmlE3oCHuWShqh9rPFoTNyaZUhCWNlSxqyUH9PZDTSehoFtjOiZqxXvbn4n9dLTXjrZ1wmqUHJlovCVBATk/nXZMgVMiOmllCmuL2VsDFVlBmbTdGG4K2+vE7a1YpXq9Sa1+V6NY+jAOdwAVfgwQ3U4R4a0AIGCM/wCm/Oo/PivDsfy9YNJ585gz9wPn8A2+OM8Q==</latexit>

r <latexit sha1_base64="1HO1cpsciAu6xRGzQevqR78RvhU=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4ColI9VjwInhpwX5AG8pmO2nXbjZhdyOU0l/gxYMiXv1J3vw3btsctPXBwOO9GWbmhang2njet7O2vrG5tV3YKe7u7R8clo6OmzrJFMMGS0Si2iHVKLjEhuFGYDtVSONQYCsc3c781hMqzRP5YMYpBjEdSB5xRo2V6ve9UtlzvTnIKvFzUoYctV7pq9tPWBajNExQrTu+l5pgQpXhTOC02M00ppSN6AA7lkoaow4m80On5NwqfRIlypY0ZK7+npjQWOtxHNrOmJqhXvZm4n9eJzPRTTDhMs0MSrZYFGWCmITMviZ9rpAZMbaEMsXtrYQNqaLM2GyKNgR/+eVV0rx0/YpbqV+Vq24eRwFO4QwuwIdrqMId1KABDBCe4RXenEfnxXl3Phata04+cwJ/4Hz+AJ+TjMY=</latexit>

K c
<latexit sha1_base64="PLDHMdRLxHtdwBCA9P1Tjq6VILk=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4KkmR6rHgxWML9gPaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/nY3Nre2d3cJecf/g8Oi4dHLa1nGqGLZYLGLVDahGwSW2DDcCu4lCGgUCO8Hkbu53nlBpHssHM03Qj+hI8pAzaqzUZINS2a24C5B14uWkDDkag9JXfxizNEJpmKBa9zw3MX5GleFM4KzYTzUmlE3oCHuWShqh9rPFoTNyaZUhCWNlSxqyUH9PZDTSehoFtjOiZqxXvbn4n9dLTXjrZ1wmqUHJlovCVBATk/nXZMgVMiOmllCmuL2VsDFVlBmbTdGG4K2+vE7a1YpXq9Sa1+V6NY+jAOdwAVfgwQ3U4R4a0AIGCM/wCm/Oo/PivDsfy9YNJ585gz9wPn8AxSeM4g==</latexit>

-
<latexit sha1_base64="ZoyOTtuS4rxtDsLJLYnBKbSRLBg=">AAACDnicbVDLSsNAFJ34rPUVdelmsBRahJIUqW6EYjfiqkJf0IYymU7aoZNJmJkIJeQL3Pgrblwo4ta1O//GSZuFth64l8M59zJzjxsyKpVlfRtr6xubW9u5nfzu3v7BoXl03JFBJDBp44AFouciSRjlpK2oYqQXCoJ8l5GuO22kfveBCEkD3lKzkDg+GnPqUYyUloZmceAJhONGSZaTuJV2eA0Xmp3EsnQnz2/KydAsWBVrDrhK7IwUQIbm0PwajAIc+YQrzJCUfdsKlRMjoShmJMkPIklChKdoTPqacuQT6cTzcxJY1MoIeoHQxRWcq783YuRLOfNdPekjNZHLXir+5/Uj5V05MeVhpAjHi4e8iEEVwDQbOKKCYMVmmiAsqP4rxBOks1A6wbwOwV4+eZV0qhW7VqndXxTq1SyOHDgFZ6AEbHAJ6uAWNEEbYPAInsEreDOejBfj3fhYjK4Z2c4J+APj8wfJIJqj</latexit>

C(s) 1
=
T (s) s(Js + B)

<latexit sha1_base64="KL6A15JxO1pDId1hfaHFsDlRmGg=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx0IvHCvYD2qVk02wbmmSXJCuUpX/BiwdFvPqHvPlvzLZ70NYHA4/3ZpiZF8ScaeO6305ha3tnd6+4Xzo4PDo+KZ+edXWUKEI7JOKR6gdYU84k7RhmOO3HimIRcNoLZq3M7z1RpVkkH808pr7AE8lCRrDJpFZVX4/KFbfmLoE2iZeTCuRoj8pfw3FEEkGlIRxrPfDc2PgpVoYRThelYaJpjMkMT+jAUokF1X66vHWBrqwyRmGkbEmDlurviRQLrecisJ0Cm6le9zLxP2+QmPDOT5mME0MlWS0KE45MhLLH0ZgpSgyfW4KJYvZWRKZYYWJsPCUbgrf+8ibp1mteo9Z4uKk063kcRbiAS6iCB7fQhHtoQwcITOEZXuHNEc6L8+58rFoLTj5zDn/gfP4ALhONpA==</latexit>

C(s)
<latexit sha1_base64="vEFPruHenujdcamxjp5jpjiFnWQ=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx4MVjhX5Bu5Rsmm1Dk+ySZIWy9C948aCIV/+QN/+N2XYP2vpg4PHeDDPzgpgzbVz32ylsbe/s7hX3SweHR8cn5dOzro4SRWiHRDxS/QBrypmkHcMMp/1YUSwCTnvB7D7ze09UaRbJtpnH1Bd4IlnICDaZ1K7q61G54tbcJdAm8XJSgRytUflrOI5IIqg0hGOtB54bGz/FyjDC6aI0TDSNMZnhCR1YKrGg2k+Xty7QlVXGKIyULWnQUv09kWKh9VwEtlNgM9XrXib+5w0SE975KZNxYqgkq0VhwpGJUPY4GjNFieFzSzBRzN6KyBQrTIyNp2RD8NZf3iTdes1r1BqPN5VmPY+jCBdwCVXw4Baa8AAt6ACBKTzDK7w5wnlx3p2PVWvByWfO4Q+czx9ICo21</latexit>

+ T (s)
<latexit sha1_base64="WFxCOxcGKBBdGR0eK2xLrF95BiM=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx4MVjFfsB7VKyabYNTbJLkhXK0r/gxYMiXv1D3vw3Zts9aOuDgcd7M8zMC2LOtHHdb6ewsbm1vVPcLe3tHxwelY9POjpKFKFtEvFI9QKsKWeStg0znPZiRbEIOO0G09vM7z5RpVkkH80spr7AY8lCRrDJpIeqvhyWK27NXQCtEy8nFcjRGpa/BqOIJIJKQzjWuu+5sfFTrAwjnM5Lg0TTGJMpHtO+pRILqv10cescXVhlhMJI2ZIGLdTfEykWWs9EYDsFNhO96mXif14/MeGNnzIZJ4ZKslwUJhyZCGWPoxFTlBg+swQTxeytiEywwsTYeEo2BG/15XXSqde8Rq1xf1Vp1vM4inAG51AFD66hCXfQgjYQmMAzvMKbI5wX5935WLYWnHzmFP7A+fwBRPyNsw==</latexit>

R(s) <latexit sha1_base64="jC/mcwB2R7lx6WbwvY3ODUGMO9s=">AAAB+nicbVDLSsNAFL2pr1pfqS7dDBahIoREpLosuhFXFewD2lAm00k7dPJgZqKUmE9x40IRt36JO//GaZuFth64cDjnXu69x4s5k8q2v43Cyura+kZxs7S1vbO7Z5b3WzJKBKFNEvFIdDwsKWchbSqmOO3EguLA47Ttja+nfvuBCsmi8F5NYuoGeBgynxGstNQ3yz1fYJI6WSqrt/L06iTrmxXbsmdAy8TJSQVyNPrmV28QkSSgoSIcS9l17Fi5KRaKEU6zUi+RNMZkjIe0q2mIAyrddHZ6ho61MkB+JHSFCs3U3xMpDqScBJ7uDLAayUVvKv7ndRPlX7opC+NE0ZDMF/kJRypC0xzQgAlKFJ9ogolg+lZERlhnoXRaJR2Cs/jyMmmdWU7Nqt2dV+pWHkcRDuEIquDABdThBhrQBAKP8Ayv8GY8GS/Gu/Exby0Y+cwB/IHx+QNL0pNT</latexit>

1
K
<latexit sha1_base64="1HO1cpsciAu6xRGzQevqR78RvhU=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4ColI9VjwInhpwX5AG8pmO2nXbjZhdyOU0l/gxYMiXv1J3vw3btsctPXBwOO9GWbmhang2njet7O2vrG5tV3YKe7u7R8clo6OmzrJFMMGS0Si2iHVKLjEhuFGYDtVSONQYCsc3c781hMqzRP5YMYpBjEdSB5xRo2V6ve9UtlzvTnIKvFzUoYctV7pq9tPWBajNExQrTu+l5pgQpXhTOC02M00ppSN6AA7lkoaow4m80On5NwqfRIlypY0ZK7+npjQWOtxHNrOmJqhXvZm4n9eJzPRTTDhMs0MSrZYFGWCmITMviZ9rpAZMbaEMsXtrYQNqaLM2GyKNgR/+eVV0rx0/YpbqV+Vq24eRwFO4QwuwIdrqMId1KABDBCe4RXenEfnxXl3Phata04+cwJ/4Hz+AJ+TjMY=</latexit>

s(Js + B)
-

<latexit sha1_base64="VKpHpIBImhTiBbDg6jjrVB4My+U=">AAACEHicbVDLSgMxFM3UV62vUZdugkWsFMpMkepGKHYjdlPFPqAdSybNtKGZB0lGKMN8ght/xY0LRdy6dOffmGlnoa0H7uVwzr0k99gBo0IaxreWWVpeWV3Lruc2Nre2d/TdvZbwQ45JE/vM5x0bCcKoR5qSSkY6ASfItRlp2+Na4rcfCBfU9+7kJCCWi4YedShGUkl9/bjncISjWkGcxNFt0uEFnGn1OLoW9+XipSjW476eN0rGFHCRmCnJgxSNvv7VG/g4dIknMUNCdE0jkFaEuKSYkTjXCwUJEB6jIekq6iGXCCuaHhTDI6UMoONzVZ6EU/X3RoRcISaurSZdJEdi3kvE/7xuKJ1zK6JeEEri4dlDTsig9GGSDhxQTrBkE0UQ5lT9FeIRUmlIlWFOhWDOn7xIWuWSWSlVbk7z1XIaRxYcgENQACY4A1VwBRqgCTB4BM/gFbxpT9qL9q59zEYzWrqzD/5A+/wBZRabhA==</latexit>

C(s) K
<latexit sha1_base64="KL6A15JxO1pDId1hfaHFsDlRmGg=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx0IvHCvYD2qVk02wbmmSXJCuUpX/BiwdFvPqHvPlvzLZ70NYHA4/3ZpiZF8ScaeO6305ha3tnd6+4Xzo4PDo+KZ+edXWUKEI7JOKR6gdYU84k7RhmOO3HimIRcNoLZq3M7z1RpVkkH808pr7AE8lCRrDJpFZVX4/KFbfmLoE2iZeTCuRoj8pfw3FEEkGlIRxrPfDc2PgpVoYRThelYaJpjMkMT+jAUokF1X66vHWBrqwyRmGkbEmDlurviRQLrecisJ0Cm6le9zLxP2+QmPDOT5mME0MlWS0KE45MhLLH0ZgpSgyfW4KJYvZWRKZYYWJsPCUbgrf+8ibp1mteo9Z4uKk063kcRbiAS6iCB7fQhHtoQwcITOEZXuHNEc6L8+58rFoLTj5zDn/gfP4ALhONpA==</latexit>

+ C(s)
<latexit sha1_base64="WFxCOxcGKBBdGR0eK2xLrF95BiM=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx4MVjFfsB7VKyabYNTbJLkhXK0r/gxYMiXv1D3vw3Zts9aOuDgcd7M8zMC2LOtHHdb6ewsbm1vVPcLe3tHxwelY9POjpKFKFtEvFI9QKsKWeStg0znPZiRbEIOO0G09vM7z5RpVkkH80spr7AY8lCRrDJpIeqvhyWK27NXQCtEy8nFcjRGpa/BqOIJIJKQzjWuu+5sfFTrAwjnM5Lg0TTGJMpHtO+pRILqv10cescXVhlhMJI2ZIGLdTfEykWWs9EYDsFNhO96mXif14/MeGNnzIZJ4ZKslwUJhyZCGWPoxFTlBg+swQTxeytiEywwsTYeEo2BG/15XXSqde8Rq1xf1Vp1vM4inAG51AFD66hCXfQgjYQmMAzvMKbI5wX5935WLYWnHzmFP7A+fwBRPyNsw==</latexit>

R(s) <latexit sha1_base64="IC078TxUJLBxKvScJcnmz5ZB6e4=">AAAB+nicbVDLSsNAFL3xWesr1aWbwSJUhJCIVJdFN6KbCvYBbSiT6aQdOnkwM1FKzKe4caGIW7/EnX/jtM1CWw9cOJxzL/fe48WcSWXb38bS8srq2npho7i5tb2za5b2mjJKBKENEvFItD0sKWchbSimOG3HguLA47Tlja4mfuuBCsmi8F6NY+oGeBAynxGstNQzS11fYJLeZqms3MiTy+OsZ5Zty54CLRInJ2XIUe+ZX91+RJKAhopwLGXHsWPlplgoRjjNit1E0hiTER7QjqYhDqh00+npGTrSSh/5kdAVKjRVf0+kOJByHHi6M8BqKOe9ifif10mUf+GmLIwTRUMyW+QnHKkITXJAfSYoUXysCSaC6VsRGWKdhdJpFXUIzvzLi6R5ajlVq3p3Vq5ZeRwFOIBDqIAD51CDa6hDAwg8wjO8wpvxZLwY78bHrHXJyGf24Q+Mzx90PpNt</latexit>

K =
s(Js + B) R(s) Js2 + Bs + K
-

23
Ali Dadgar – Department of Mechanical Engineering – Columbia University
Standard form of the second-order system
+ ωn2
<latexit sha1_base64="dhMi6QrWrq3TWeQKS5CNo0r8tsc=">AAACJHicbZDLSgMxFIYz3q23qks3wSJUhDJTpAoiCN24rGKt0BlLJj1TQzOZIckIdZiHceOruHHhBRdufBYzbQWtHkj4+f5zSM7vx5wpbdsf1tT0zOzc/MJiYWl5ZXWtuL5xqaJEUmjSiEfyyicKOBPQ1ExzuIolkNDn0PL79dxv3YJULBIXehCDF5KeYAGjRBvUKR65gSQ0rZfVbpae5zc+xiPmRiH0SEdcV7NUldVe1b0DTfA33s06xZJdsYeF/wpnLEpoXI1O8dXtRjQJQWjKiVJtx461lxKpGeWQFdxEQUxon/SgbaQgISgvHS6Z4R1DujiIpDlC4yH9OZGSUKlB6JvOkOgbNenl8D+vnejg0EuZiBMNgo4eChKOdYTzxHCXSaCaD4wgVDLzV0xviElIm1wLJgRncuW/4rJacWqV2tl+6aQyjmMBbaFtVEYOOkAn6BQ1UBNRdI8e0TN6sR6sJ+vNeh+1TlnjmU30q6zPL3tBpBI=</latexit>

ωn2
<latexit sha1_base64="I136rNUeEWWYkPZqpAhHd4nU1Qc=">AAACMnicbVDLSgMxFM3UV62vqks3wSJUhDIziLoRhG50V8W2QqctmfROG5rJDElGqEO/yY1fIrjQhSJu/QjTh1AfBxIO55xLco8fc6a0bT9bmbn5hcWl7HJuZXVtfSO/uVVTUSIpVGnEI3njEwWcCahqpjncxBJI6HOo+/3yyK/fglQsEtd6EEMzJF3BAkaJNlI7f+EFktC0XFT7w/RqdONTPNG8KIQuaYuWO0xVyz1wvTvQBH/LWOEDPJNp5wt2yR4D/yXOlBTQFJV2/tHrRDQJQWjKiVINx451MyVSM8phmPMSBTGhfdKFhqGChKCa6XjlId4zSgcHkTRHaDxWZydSEio1CH2TDInuqd/eSPzPayQ6OGmmTMSJBkEnDwUJxzrCo/5wh0mgmg8MIVQy81dMe8T0pU3LOVOC83vlv6Tmlpyj0tHlYeHMndaRRTtoFxWRg47RGTpHFVRFFN2jJ/SK3qwH68V6tz4m0Yw1ndlGP2B9fgGuw6ku</latexit>

C(s) <latexit sha1_base64="WFxCOxcGKBBdGR0eK2xLrF95BiM=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx4MVjFfsB7VKyabYNTbJLkhXK0r/gxYMiXv1D3vw3Zts9aOuDgcd7M8zMC2LOtHHdb6ewsbm1vVPcLe3tHxwelY9POjpKFKFtEvFI9QKsKWeStg0znPZiRbEIOO0G09vM7z5RpVkkH80spr7AY8lCRrDJpIeqvhyWK27NXQCtEy8nFcjRGpa/BqOIJIJKQzjWuu+5sfFTrAwjnM5Lg0TTGJMpHtO+pRILqv10cescXVhlhMJI2ZIGLdTfEykWWs9EYDsFNhO96mXif14/MeGNnzIZJ4ZKslwUJhyZCGWPoxFTlBg+swQTxeytiEywwsTYeEo2BG/15XXSqde8Rq1xf1Vp1vM4inAG51AFD66hCXfQgjYQmMAzvMKbI5wX5935WLYWnHzmFP7A+fwBRPyNsw==</latexit>

C(s)
R(s)
<latexit sha1_base64="KL6A15JxO1pDId1hfaHFsDlRmGg=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx0IvHCvYD2qVk02wbmmSXJCuUpX/BiwdFvPqHvPlvzLZ70NYHA4/3ZpiZF8ScaeO6305ha3tnd6+4Xzo4PDo+KZ+edXWUKEI7JOKR6gdYU84k7RhmOO3HimIRcNoLZq3M7z1RpVkkH808pr7AE8lCRrDJpFZVX4/KFbfmLoE2iZeTCuRoj8pfw3FEEkGlIRxrPfDc2PgpVoYRThelYaJpjMkMT+jAUokF1X66vHWBrqwyRmGkbEmDlurviRQLrecisJ0Cm6le9zLxP2+QmPDOT5mME0MlWS0KE45MhLLH0ZgpSgyfW4KJYvZWRKZYYWJsPCUbgrf+8ibp1mteo9Z4uKk063kcRbiAS6iCB7fQhHtoQwcITOEZXuHNEc6L8+58rFoLTj5zDn/gfP4ALhONpA==</latexit>

= 2 = C(s)
R(s) s(s + 2εωn )
R(s) s + 2εωn s + ωn2 -

Dynamic behavior: depends on ωn and ω


<latexit sha1_base64="Zt0PAL0bRP9mfmIkUZPcfvvJAms=">AAAB73icbVDLSgNBEOyNrxhfUY9eBoPgKewGiR4DXjxGMA9IljA7mU2GzGOdmRXCkp/w4kERr/6ON//GSbIHTSxoKKq66e6KEs6M9f1vr7CxubW9U9wt7e0fHB6Vj0/aRqWa0BZRXOluhA3lTNKWZZbTbqIpFhGnnWhyO/c7T1QbpuSDnSY0FHgkWcwItk7q9pWgIzyQg3LFr/oLoHUS5KQCOZqD8ld/qEgqqLSEY2N6gZ/YMMPaMsLprNRPDU0wmeAR7TkqsaAmzBb3ztCFU4YoVtqVtGih/p7IsDBmKiLXKbAdm1VvLv7n9VIb34QZk0lqqSTLRXHKkVVo/jwaMk2J5VNHMNHM3YrIGGtMrIuo5EIIVl9eJ+1aNahX6/dXlUYtj6MIZ3AOlxDANTTgDprQAgIcnuEV3rxH78V79z6WrQUvnzmFP/A+fwAUzI/3</latexit>
<latexit sha1_base64="RdJwI0G+1mnEJEhWN/6DHAjygZI=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4rmLbQhrLZTtqlm03Y3Qi19Dd48aCIV3+QN/+N2zYHbX0w8Hhvhpl5YSq4Nq777RQ2Nre2d4q7pb39g8Oj8vFJSyeZYuizRCSqE1KNgkv0DTcCO6lCGocC2+H4du63H1FpnsgHM0kxiOlQ8ogzaqzk957Q0H654lbdBcg68XJSgRzNfvmrN0hYFqM0TFCtu56bmmBKleFM4KzUyzSmlI3pELuWShqjDqaLY2fkwioDEiXKljRkof6emNJY60kc2s6YmpFe9ebif143M9FNMOUyzQxKtlwUZYKYhMw/JwOukBkxsYQyxe2thI2ooszYfEo2BG/15XXSqlW9erV+f1Vp1PI4inAG53AJHlxDA+6gCT4w4PAMr/DmSOfFeXc+lq0FJ585hT9wPn8A50COtw==</latexit>

5 0 undamped Clt 1 CosWat wa Waving awn


gal criticallydamped RLS
t
Ingyjistswn
c s
wnt
Y
T
PFE
É É CH sin s E Wn
6
decaying

24
Ali Dadgar – Department of Mechanical Engineering – Columbia University
ω = 0.5 → 0.8 Servomotor, position control
<latexit sha1_base64="y76qO9h0Osm1vd+Gz5YY03clw3M=">AAAB+HicbVBNS8NAEN34WetHox69LBbBiyERrb0IBS8eK9gPaEPZbCft0s0m7G6ENvSXePGgiFd/ijf/jds2B219MPB4b4aZeUHCmdKu+22trW9sbm0Xdoq7e/sHJfvwqKniVFJo0JjHsh0QBZwJaGimObQTCSQKOLSC0d3Mbz2BVCwWj3qcgB+RgWAho0QbqWeXuhPQBN9i17m+cJ1qzy67jjsHXiVeTsooR71nf3X7MU0jEJpyolTHcxPtZ0RqRjlMi91UQULoiAygY6ggESg/mx8+xWdG6eMwlqaExnP190RGIqXGUWA6I6KHatmbif95nVSHVT9jIkk1CLpYFKYc6xjPUsB9JoFqPjaEUMnMrZgOiSRUm6yKJgRv+eVV0rx0vIpTebgq15w8jgI6QafoHHnoBtXQPaqjBqIoRc/oFb1ZE+vFerc+Fq1rVj5zjP7A+vwBr+GRGw==</latexit>

Fast motion / small oscillations


ω = 0.5 → 0.8 Aggressive control; high performance aircraft pitch
<latexit sha1_base64="y76qO9h0Osm1vd+Gz5YY03clw3M=">AAAB+HicbVBNS8NAEN34WetHox69LBbBiyERrb0IBS8eK9gPaEPZbCft0s0m7G6ENvSXePGgiFd/ijf/jds2B219MPB4b4aZeUHCmdKu+22trW9sbm0Xdoq7e/sHJfvwqKniVFJo0JjHsh0QBZwJaGimObQTCSQKOLSC0d3Mbz2BVCwWj3qcgB+RgWAho0QbqWeXuhPQBN9i17m+cJ1qzy67jjsHXiVeTsooR71nf3X7MU0jEJpyolTHcxPtZ0RqRjlMi91UQULoiAygY6ggESg/mx8+xWdG6eMwlqaExnP190RGIqXGUWA6I6KHatmbif95nVSHVT9jIkk1CLpYFKYc6xjPUsB9JoFqPjaEUMnMrZgOiSRUm6yKJgRv+eVV0rx0vIpTebgq15w8jgI6QafoHHnoBtXQPaqjBqIoRc/oFb1ZE+vFerc+Fq1rVj5zjP7A+vwBr+GRGw==</latexit>

(accepting some overshoot for speed)


ω = 0.2 → 0.4 Vehicle suspension
<latexit sha1_base64="aNwlsW/XZAX/lZwOonmZToVbC8o=">AAAB+HicbVBNS8NAEN34WetHox69LBbBiyEppXoRCl48VrAf0Iay2U7apZtN2N0Ibegv8eJBEa/+FG/+G7dtDtr6YODx3gwz84KEM6Vd99va2Nza3tkt7BX3Dw6PSvbxSUvFqaTQpDGPZScgCjgT0NRMc+gkEkgUcGgH47u5334CqVgsHvUkAT8iQ8FCRok2Ut8u9aagCb7FrlO5cp1q3y67jrsAXideTsooR6Nvf/UGMU0jEJpyolTXcxPtZ0RqRjnMir1UQULomAyha6ggESg/Wxw+wxdGGeAwlqaExgv190RGIqUmUWA6I6JHatWbi/953VSHN37GRJJqEHS5KEw51jGep4AHTALVfGIIoZKZWzEdEUmoNlkVTQje6svrpFVxvJpTe6iW604eRwGdoXN0iTx0jeroHjVQE1GUomf0it6sqfVivVsfy9YNK585RX9gff4ApTmRFA==</latexit>

Comfort and road holding balance


ω > 1.0 Temperature control, smooth, slow response
<latexit sha1_base64="sMg693xquGTOTqI6oKN/T2YJue4=">AAAB8nicbVBNS8NAEN3Ur1q/qh69LBbBU0hEqicpePFYwX5AGspmu2mXbnbD7kSooT/DiwdFvPprvPlv3LY5aOuDgcd7M8zMi1LBDXjet1NaW9/Y3CpvV3Z29/YPqodHbaMyTVmLKqF0NyKGCS5ZCzgI1k01I0kkWCca3878ziPThiv5AJOUhQkZSh5zSsBKQe+JAcE32He9frXmud4ceJX4BamhAs1+9as3UDRLmAQqiDGB76UQ5kQDp4JNK73MsJTQMRmywFJJEmbCfH7yFJ9ZZYBjpW1JwHP190ROEmMmSWQ7EwIjs+zNxP+8IIP4Osy5TDNgki4WxZnAoPDsfzzgmlEQE0sI1dzeiumIaELBplSxIfjLL6+S9oXr1936/WWt4RZxlNEJOkXnyEdXqIHuUBO1EEUKPaNX9OaA8+K8Ox+L1pJTzByjP3A+fwBqe4/8</latexit>

25
Transient Response
• If a response of a system to unit step function is known à compute the repose to any input.
• Transient response of of a system to a unit-step input depends on IC (commonly 0)
• Practical control system: exhibits damped oscillation before reaching steady-state.
• Transient response parameters:

td Delay time
<latexit sha1_base64="RhhieDMetMyiTFusSZyoAW8cKAo=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lstu3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKTEUjKKVHnAQDsoVt+ouQNaJl5MK5GgOyl/9MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELq4RkGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5fi8MbPhEpS5IotFw1TSTAm879JKDRnKKeWUKaFvZWwMdWUoU2nZEPwVl9eJ+1a1atX6/dXlUYtj6MIZ3AOl+DBNTTgDprQAgYjeIZXeHOk8+K8Ox/L1oKTz5zCHzifP1Gmjco=</latexit>

tr Rise time
<latexit sha1_base64="OOSyanEMBb1F2CDMGdcmCyb6oaI=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzjQg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2bejdg=</latexit>

tp Peak time
<latexit sha1_base64="+EGYsy6BnfEU6xY0VTV1lJp7/+I=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzhIBuWKW3UXIOvEy0kFcjQH5a/+MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELqwxJGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5dieONnQiUpcsWWi8JUEozJ/G8yFJozlFNLKNPC3krYmGrK0KZTsiF4qy+vk3at6tWr9furSqOWx1GEMziHS/DgGhpwB01oAYMRPMMrvDnSeXHenY9la8HJZ07hD5zPH2PWjdY=</latexit>

Mp Maximum overshoot percent


<latexit sha1_base64="WS+cokq1Ccs5ob5PvwRUEYIbumU=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkmR6rHgxYtQ0X5AG8pmO2mXbjZhdyOU0J/gxYMiXv1F3vw3btsctPXBwOO9GWbmBYng2rjut7O2vrG5tV3YKe7u7R8clo6OWzpOFcMmi0WsOgHVKLjEpuFGYCdRSKNAYDsY38z89hMqzWP5aCYJ+hEdSh5yRo2VHu76Sb9UdivuHGSVeDkpQ45Gv/TVG8QsjVAaJqjWXc9NjJ9RZTgTOC32Uo0JZWM6xK6lkkao/Wx+6pScW2VAwljZkobM1d8TGY20nkSB7YyoGellbyb+53VTE177GZdJalCyxaIwFcTEZPY3GXCFzIiJJZQpbm8lbEQVZcamU7QheMsvr5JWteLVKrX7y3K9msdRgFM4gwvw4ArqcAsNaAKDITzDK7w5wnlx3p2PReuak8+cwB84nz8obI2v</latexit>

ts Settling time
<latexit sha1_base64="klmFxSooc6NuxDUy1AGDkOVdwus=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2hijdk=</latexit>

26
Ali Dadgar – Department of Mechanical Engineering – Columbia University
tat
def 0

td • Time to reach the 50% of final value I


<latexit sha1_base64="RhhieDMetMyiTFusSZyoAW8cKAo=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lstu3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKTEUjKKVHnAQDsoVt+ouQNaJl5MK5GgOyl/9MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELq4RkGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5fi8MbPhEpS5IotFw1TSTAm879JKDRnKKeWUKaFvZWwMdWUoU2nZEPwVl9eJ+1a1atX6/dXlUYtj6MIZ3AOl+DBNTTgDprQAgYjeIZXeHOk8+K8Ox/L1oKTz5zCHzifP1Gmjco=</latexit>

tr • Time to rise from:


<latexit sha1_base64="OOSyanEMBb1F2CDMGdcmCyb6oaI=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzjQg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2bejdg=</latexit>

• 10% to 90% (for overdamped)


• 5% to 95%
• 0 to 100% (for underdamped)
of its final value.
tp • Time to reach the first peak of overshoot
<latexit sha1_base64="+EGYsy6BnfEU6xY0VTV1lJp7/+I=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzhIBuWKW3UXIOvEy0kFcjQH5a/+MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELqwxJGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5dieONnQiUpcsWWi8JUEozJ/G8yFJozlFNLKNPC3krYmGrK0KZTsiF4qy+vk3at6tWr9furSqOWx1GEMziHS/DgGhpwB01oAYMRPMMrvDnSeXHenY9la8HJZ07hD5zPH2PWjdY=</latexit>

Mp • Maximum overshoot precent


<latexit sha1_base64="WS+cokq1Ccs5ob5PvwRUEYIbumU=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkmR6rHgxYtQ0X5AG8pmO2mXbjZhdyOU0J/gxYMiXv1F3vw3btsctPXBwOO9GWbmBYng2rjut7O2vrG5tV3YKe7u7R8clo6OWzpOFcMmi0WsOgHVKLjEpuFGYCdRSKNAYDsY38z89hMqzWP5aCYJ+hEdSh5yRo2VHu76Sb9UdivuHGSVeDkpQ45Gv/TVG8QsjVAaJqjWXc9NjJ9RZTgTOC32Uo0JZWM6xK6lkkao/Wx+6pScW2VAwljZkobM1d8TGY20nkSB7YyoGellbyb+53VTE177GZdJalCyxaIwFcTEZPY3GXCFzIiJJZQpbm8lbEQVZcamU7QheMsvr5JWteLVKrX7y3K9msdRgFM4gwvw4ArqcAsNaAKDITzDK7w5wnlx3p2PReuak8+cwB84nz8obI2v</latexit>

ts • Time to reach and stay within a range (2%-5%) of


<latexit sha1_base64="klmFxSooc6NuxDUy1AGDkOVdwus=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2hijdk=</latexit>

the final value

c(tp ) → c(↑)
<latexit sha1_base64="+FpZ1wvyRMiL45vBFy1XAOoUur8=">AAACH3icbZDLSgMxFIYz9VbrrerSTbAU2oVlpkh1IxTcuBEq2FrolCGTZtrQTGZIzghl6Ju48VXcuFBE3PVtTC+gtv4Q+PjPOZyc348F12DbEyuztr6xuZXdzu3s7u0f5A+PWjpKFGVNGolItX2imeCSNYGDYO1YMRL6gj34w+tp/eGRKc0jeQ+jmHVD0pc84JSAsbx87daL8RV2A0VoSkvgxeUzWnK5DGBUHqc/iF3gIdPYsW3sFr18wa7YM+FVcBZQQAs1vPyX24toEjIJVBCtO44dQzclCjgVbJxzE81iQoekzzoGJTG7uunsvjEuGqeHg0iZJwHP3N8TKQm1HoW+6QwJDPRybWr+V+skEFx2Uy7jBJik80VBIjBEeBoW7nHFKIiRAUIVN3/FdEBMVGAizZkQnOWTV6FVrTi1Su3uvFCvLuLIohN0ikrIQReojm5QAzURRU/oBb2hd+vZerU+rM95a8ZazByjP7Im35qJoMs=</latexit>

Mp = ↓ 100%
c(↑) td Delay time
<latexit sha1_base64="RhhieDMetMyiTFusSZyoAW8cKAo=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lstu3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKTEUjKKVHnAQDsoVt+ouQNaJl5MK5GgOyl/9MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELq4RkGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5fi8MbPhEpS5IotFw1TSTAm879JKDRnKKeWUKaFvZWwMdWUoU2nZEPwVl9eJ+1a1atX6/dXlUYtj6MIZ3AOl+DBNTTgDprQAgYjeIZXeHOk8+K8Ox/L1oKTz5zCHzifP1Gmjco=</latexit>

tr Rise time
<latexit sha1_base64="OOSyanEMBb1F2CDMGdcmCyb6oaI=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzjQg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2bejdg=</latexit>

tp Peak time
<latexit sha1_base64="+EGYsy6BnfEU6xY0VTV1lJp7/+I=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzhIBuWKW3UXIOvEy0kFcjQH5a/+MGZpxBUySY3peW6CfkY1Cib5rNRPDU8om9AR71mqaMSNny1OnZELqwxJGGtbCslC/T2R0ciYaRTYzoji2Kx6c/E/r5dieONnQiUpcsWWi8JUEozJ/G8yFJozlFNLKNPC3krYmGrK0KZTsiF4qy+vk3at6tWr9furSqOWx1GEMziHS/DgGhpwB01oAYMRPMMrvDnSeXHenY9la8HJZ07hD5zPH2PWjdY=</latexit>

Mp Maximum overshoot percent


<latexit sha1_base64="WS+cokq1Ccs5ob5PvwRUEYIbumU=">AAAB6nicbVBNS8NAEJ34WetX1aOXxSJ4KkmR6rHgxYtQ0X5AG8pmO2mXbjZhdyOU0J/gxYMiXv1F3vw3btsctPXBwOO9GWbmBYng2rjut7O2vrG5tV3YKe7u7R8clo6OWzpOFcMmi0WsOgHVKLjEpuFGYCdRSKNAYDsY38z89hMqzWP5aCYJ+hEdSh5yRo2VHu76Sb9UdivuHGSVeDkpQ45Gv/TVG8QsjVAaJqjWXc9NjJ9RZTgTOC32Uo0JZWM6xK6lkkao/Wx+6pScW2VAwljZkobM1d8TGY20nkSB7YyoGellbyb+53VTE177GZdJalCyxaIwFcTEZPY3GXCFzIiJJZQpbm8lbEQVZcamU7QheMsvr5JWteLVKrX7y3K9msdRgFM4gwvw4ArqcAsNaAKDITzDK7w5wnlx3p2PReuak8+cwB84nz8obI2v</latexit>

ts Settling time
<latexit sha1_base64="klmFxSooc6NuxDUy1AGDkOVdwus=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2hijdk=</latexit>

27
Ali Dadgar – Department of Mechanical Engineering – Columbia University
049 1 underdamped system

I
Cftr 1 éson coswatrt
[Link] jw
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tanwater
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ttg fff

28
Ali Dadgar – Department of Mechanical Engineering – Columbia University
0

swine [Link] gzsniwatp eswntP

Wdsinwd4
fEoswato
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Eswnt
To In
occurs
water n
LET
tp Mp C tp 1 simplify
swn 8 UF
Mp e e
Ix100I
29
Compute: ts
<latexit sha1_base64="klmFxSooc6NuxDUy1AGDkOVdwus=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0mKVI8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxvPEzoZIUuWLLRWEqCcZk/jcZCs0ZyqkllGlhbyVsTDVlaNMp2RC81ZfXSbtW9erV+v1VpVHL4yjCGZzDJXhwDQ24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2hijdk=</latexit>

Setting time can be measured in


1
<latexit sha1_base64="SsCkkaqElCbZPEHQ/C9LtFEeljk=">AAACBXicbVBNS8NAEN3Ur1q/oh71sFgETyURqV6EghePFfoFTSib7aRdutmE3Y1QQy9e/CtePCji1f/gzX/jts1BWx8MPN6bYWZekHCmtON8W4WV1bX1jeJmaWt7Z3fP3j9oqTiVFJo05rHsBEQBZwKammkOnUQCiQIO7WB0M/Xb9yAVi0VDjxPwIzIQLGSUaCP17OMGvsZeKAnN3EnmPYAm2IsjGJCemPTsslNxZsDLxM1JGeWo9+wvrx/TNAKhKSdKdV0n0X5GpGaUw6TkpQoSQkdkAF1DBYlA+dnsiwk+NUofh7E0JTSeqb8nMhIpNY4C0xkRPVSL3lT8z+umOrzyMyaSVIOg80VhyrGO8TQS3GcSqOZjQwiVzNyK6ZCYSLQJrmRCcBdfXiat84pbrVTvLsq1Sh5HER2hE3SGXHSJaugW1VETUfSIntErerOerBfr3fqYtxasfOYQ/YH1+QOr2JgG</latexit>

terms of the time constant T =


ωεn

2 criterion (envelope)
Time constant:
ts a 4T
C speed of decay

(envelope)

30
Ali Dadgar – Department of Mechanical Engineering – Columbia University
Observations
• Settling time ts is a function of damping ratio ω
<latexit sha1_base64="GrOZOSU2RHPLVNaZ39mx/B/tvlI=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEao8FLx4rmLbQhrLZbtulm03YnQg19Dd48aCIV3+QN/+N2zYHbX0w8Hhvhpl5YSKFQdf9dgobm1vbO8Xd0t7+weFR+fikZeJUM+6zWMa6E1LDpVDcR4GSdxLNaRRK3g4nt3O//ci1EbF6wGnCg4iOlBgKRtFKfu+JI+2XK27VXYCsEy8nFcjR7Je/eoOYpRFXyCQ1puu5CQYZ1SiY5LNSLzU8oWxCR7xrqaIRN0G2OHZGLqwyIMNY21JIFurviYxGxkyj0HZGFMdm1ZuL/3ndFIf1IBMqSZErtlw0TCXBmMw/JwOhOUM5tYQyLeythI2ppgxtPiUbgrf68jppXVW9WrV2f11p1PM4inAG53AJHtxAA+6gCT4wEPAMr/DmKOfFeXc+lq0FJ585hT9wPn8A6Q6OvQ==</latexit>

<latexit sha1_base64="A7TnJg/WhpdTwapgGZAjxv2BYeA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEao8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxrPuZUEmKXLHlojCVBGMy/5sMheYM5dQSyrSwtxI2ppoytOmUbAje6svrpH1V9WrV2v11pVHP4yjCGZzDJXhwAw24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2owjd8=</latexit>

• For a rapid response, ωn should be large <latexit sha1_base64="mb83wHNWJnpFTf44PBGtNeo3vlQ=">AAAB73icbVDLSgNBEJyNrxhfUY9eBoPgKeyKxBwDXjxGMA9IljA76U2GzGOdmRXCkp/w4kERr/6ON//GSbIHTSxoKKq66e6KEs6M9f1vr7CxubW9U9wt7e0fHB6Vj0/aRqWaQosqrnQ3IgY4k9CyzHLoJhqIiDh0osnt3O88gTZMyQc7TSAUZCRZzCixTur2lYARGchBueJX/QXwOglyUkE5moPyV3+oaCpAWsqJMb3AT2yYEW0Z5TAr9VMDCaETMoKeo5IIMGG2uHeGL5wyxLHSrqTFC/X3REaEMVMRuU5B7NisenPxP6+X2rgeZkwmqQVJl4vilGOr8Px5PGQaqOVTRwjVzN2K6ZhoQq2LqORCCFZfXiftq2pQq9buryuNeh5HEZ2hc3SJAnSDGugONVELUcTRM3pFb96j9+K9ex/L1oKXz5yiP/A+fwAWmo/9</latexit>

• To limit maximum overshoot Mp (and small ts ),


<latexit sha1_base64="5D08uIqyobMbqvVai2UxoJ6/hOA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEao8FL16EitYW2lA22027dLMJuxOhhP4ELx4U8eov8ua/cdvmoK0PBh7vzTAzL0ikMOi6305hbX1jc6u4XdrZ3ds/KB8ePZo41Yy3WCxj3Qmo4VIo3kKBkncSzWkUSN4Oxtczv/3EtRGxesBJwv2IDpUIBaNopfvbftIvV9yqOwdZJV5OKpCj2S9/9QYxSyOukElqTNdzE/QzqlEwyaelXmp4QtmYDnnXUkUjbvxsfuqUnFllQMJY21JI5urviYxGxkyiwHZGFEdm2ZuJ/3ndFMO6nwmVpMgVWywKU0kwJrO/yUBozlBOLKFMC3srYSOqKUObTsmG4C2/vEoeL6perVq7u6w06nkcRTiBUzgHD66gATfQhBYwGMIzvMKbI50X5935WLQWnHzmGP7A+fwBKjqNtQ==</latexit> <latexit sha1_base64="A7TnJg/WhpdTwapgGZAjxv2BYeA=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEao8FLx4r2g9oQ9lsN+3SzSbsToQS+hO8eFDEq7/Im//GbZuDtj4YeLw3w8y8IJHCoOt+O4WNza3tneJuaW//4PCofHzSNnGqGW+xWMa6G1DDpVC8hQIl7yaa0yiQvBNMbud+54lrI2L1iNOE+xEdKREKRtFKDzgwg3LFrboLkHXi5aQCOZqD8ld/GLM04gqZpMb0PDdBP6MaBZN8VuqnhieUTeiI9yxVNOLGzxanzsiFVYYkjLUthWSh/p7IaGTMNApsZ0RxbFa9ufif10sxrPuZUEmKXLHlojCVBGMy/5sMheYM5dQSyrSwtxI2ppoytOmUbAje6svrpH1V9WrV2v11pVHP4yjCGZzDJXhwAw24gya0gMEInuEV3hzpvDjvzseyteDkM6fwB87nD2owjd8=</latexit>

damping ratio ω should not be too small


<latexit sha1_base64="GrOZOSU2RHPLVNaZ39mx/B/tvlI=">AAAB7HicbVBNS8NAEJ3Ur1q/qh69LBbBU0lEao8FLx4rmLbQhrLZbtulm03YnQg19Dd48aCIV3+QN/+N2zYHbX0w8Hhvhpl5YSKFQdf9dgobm1vbO8Xd0t7+weFR+fikZeJUM+6zWMa6E1LDpVDcR4GSdxLNaRRK3g4nt3O//ci1EbF6wGnCg4iOlBgKRtFKfu+JI+2XK27VXYCsEy8nFcjR7Je/eoOYpRFXyCQ1puu5CQYZ1SiY5LNSLzU8oWxCR7xrqaIRN0G2OHZGLqwyIMNY21JIFurviYxGxkyj0HZGFMdm1ZuL/3ndFIf1IBMqSZErtlw0TCXBmMw/JwOhOUM5tYQyLeythI2ppgxtPiUbgrf68jppXVW9WrV2f11p1PM4inAG53AJHtxAA+6gCT4wEPAMr/DmKOfFeXc+lq0FJ585hT9wPn8A6Q6OvQ==</latexit>

O
Ali Dadgar – Department of Mechanical Engineering – Columbia University
31
Example

5 0.6 Wn 5 radsee systemissubjectedto unitstepinput

Wa Wnt a 4
o fun 6 5 3
to p tantwad
If 93rad tr 55 sec

Ep Ip 3
785 sec
o wait 34 IT
up a e e 095 9.5

32
Example


+

Éa
+ K 1
<latexit sha1_base64="+bI/C4Ae5ilR7QDRAXmMWYINTR0=">AAAB9XicbVBNS8NAEJ3Ur1q/qh69LBZBEEIiUj0WvYheKtgPaGPZbDft0s0m7G6UEvI/vHhQxKv/xZv/xm2bg7Y+GHi8N8PMPD/mTGnH+bYKS8srq2vF9dLG5tb2Tnl3r6miRBLaIBGPZNvHinImaEMzzWk7lhSHPqctf3Q18VuPVCoWiXs9jqkX4oFgASNYG+mhG0hM0tssvVEnl1mvXHFsZwq0SNycVCBHvVf+6vYjkoRUaMKxUh3XibWXYqkZ4TQrdRNFY0xGeEA7hgocUuWl06szdGSUPgoiaUpoNFV/T6Q4VGoc+qYzxHqo5r2J+J/XSXRw4aVMxImmgswWBQlHOkKTCFCfSUo0HxuCiWTmVkSG2AShTVAlE4I7//IiaZ7abtWu3p1VanYeRxEO4BCOwYVzqME11KEBBCQ8wyu8WU/Wi/VufcxaC1Y+sw9/YH3+AFOTklo=</latexit>

E
<latexit sha1_base64="sgu73zqVNDQb3/PwuhCLnApHVuc=">AAAB8nicbVBNS8NAEN3Ur1q/qh69LBbBU0hEqseCF48V7AekoWy2m3bpZjfsToQS8jO8eFDEq7/Gm//GbZuDtj4YeLw3w8y8KBXcgOd9O5WNza3tnepubW//4PCofnzSNSrTlHWoEkr3I2KY4JJ1gINg/VQzkkSC9aLp3dzvPTFtuJKPMEtZmJCx5DGnBKwUDGJNaO4XuSmG9YbnegvgdeKXpIFKtIf1r8FI0SxhEqggxgS+l0KYEw2cClbUBplhKaFTMmaBpZIkzIT54uQCX1hlhGOlbUnAC/X3RE4SY2ZJZDsTAhOz6s3F/7wgg/g2zLlMM2CSLhfFmcCg8Px/POKaURAzSwjV3N6K6YTYFMCmVLMh+Ksvr5Pules33ebDdaPllnFU0Rk6R5fIRzeohe5RG3UQRQo9o1f05oDz4rw7H8vWilPOnKI/cD5/AJmTkWs=</latexit>

C
<latexit sha1_base64="9efFSIVj6XxMWBECpmB6Gq5A36I=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4KolI9VjoxWML9gPaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/nY3Nre2d3cJecf/g8Oi4dHLa1nGqGLZYLGLVDahGwSW2DDcCu4lCGgUCO8GkPvc7T6g0j+WDmSboR3QkecgZNVZq1gelsltxFyDrxMtJGXI0BqWv/jBmaYTSMEG17nluYvyMKsOZwFmxn2pMKJvQEfYslTRC7WeLQ2fk0ipDEsbKljRkof6eyGik9TQKbGdEzVivenPxP6+XmvDOz7hMUoOSLReFqSAmJvOvyZArZEZMLaFMcXsrYWOqKDM2m6INwVt9eZ20rytetVJt3pRrlTyOApzDBVyBB7dQg3toQAsYIDzDK7w5j86L8+58LFs3nHzmDP7A+fwBk3OMvg==</latexit>

R
<latexit sha1_base64="09gyVSUwka2qRMAE9imjG4/8zDM=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4ColI9Vjw4rEV+wFtKJvtpF272YTdjVBKf4EXD4p49Sd589+4bXPQ1gcDj/dmmJkXpoJr43nfztr6xubWdmGnuLu3f3BYOjpu6iRTDBssEYlqh1Sj4BIbhhuB7VQhjUOBrXB0O/NbT6g0T+SDGacYxHQgecQZNVaq3/dKZc/15iCrxM9JGXLUeqWvbj9hWYzSMEG17vheaoIJVYYzgdNiN9OYUjaiA+xYKmmMOpjMD52Sc6v0SZQoW9KQufp7YkJjrcdxaDtjaoZ62ZuJ/3mdzEQ3wYTLNDMo2WJRlAliEjL7mvS5QmbE2BLKFLe3EjakijJjsynaEPzll1dJ89L1K26lflWuunkcBTiFM7gAH66hCndQgwYwQHiGV3hzHp0X5935WLSuOfnMCfyB8/kDqi+MzQ==</latexit>

Js + B s

Kh
<latexit sha1_base64="BLlnzEyIOYnq+dKwhS2jl9LPFWQ=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0hEqseCF8FLRfsBbSib7aZdutmE3YlQSn+CFw+KePUXefPfuG1z0NYHA4/3ZpiZF6ZSGPS8b6ewtr6xuVXcLu3s7u0flA+PmibJNOMNlshEt0NquBSKN1Cg5O1UcxqHkrfC0c3Mbz1xbUSiHnGc8iCmAyUiwSha6eGuN+yVK57rzUFWiZ+TCuSo98pf3X7CspgrZJIa0/G9FIMJ1SiY5NNSNzM8pWxEB7xjqaIxN8FkfuqUnFmlT6JE21JI5urviQmNjRnHoe2MKQ7NsjcT//M6GUbXwUSoNEOu2GJRlEmCCZn9TfpCc4ZybAllWthbCRtSTRnadEo2BH/55VXSvHD9qlu9v6zU3DyOIpzAKZyDD1dQg1uoQwMYDOAZXuHNkc6L8+58LFoLTj5zDH/gfP4AGAyNoQ==</latexit>

5
117 11 Jun
Éᵈ K kn Mp 20 tp 1sec Jal By Wn V45
unitstepres
8152
up e 0.2 52.456
tp Wd a 3.14 wnFg Wn 3.53
tan
Wh alk k 12.5 Nm tr
If 1.1 65sec
1 Kn ts a
2 2 48Sec
5 1 86sec 33
Impulse Response of Second-Order Systems
+ ωn2
<latexit sha1_base64="dhMi6QrWrq3TWeQKS5CNo0r8tsc=">AAACJHicbZDLSgMxFIYz3q23qks3wSJUhDJTpAoiCN24rGKt0BlLJj1TQzOZIckIdZiHceOruHHhBRdufBYzbQWtHkj4+f5zSM7vx5wpbdsf1tT0zOzc/MJiYWl5ZXWtuL5xqaJEUmjSiEfyyicKOBPQ1ExzuIolkNDn0PL79dxv3YJULBIXehCDF5KeYAGjRBvUKR65gSQ0rZfVbpae5zc+xiPmRiH0SEdcV7NUldVe1b0DTfA33s06xZJdsYeF/wpnLEpoXI1O8dXtRjQJQWjKiVJtx461lxKpGeWQFdxEQUxon/SgbaQgISgvHS6Z4R1DujiIpDlC4yH9OZGSUKlB6JvOkOgbNenl8D+vnejg0EuZiBMNgo4eChKOdYTzxHCXSaCaD4wgVDLzV0xviElIm1wLJgRncuW/4rJacWqV2tl+6aQyjmMBbaFtVEYOOkAn6BQ1UBNRdI8e0TN6sR6sJ+vNeh+1TlnjmU30q6zPL3tBpBI=</latexit>

ωn2
<latexit sha1_base64="I136rNUeEWWYkPZqpAhHd4nU1Qc=">AAACMnicbVDLSgMxFM3UV62vqks3wSJUhDIziLoRhG50V8W2QqctmfROG5rJDElGqEO/yY1fIrjQhSJu/QjTh1AfBxIO55xLco8fc6a0bT9bmbn5hcWl7HJuZXVtfSO/uVVTUSIpVGnEI3njEwWcCahqpjncxBJI6HOo+/3yyK/fglQsEtd6EEMzJF3BAkaJNlI7f+EFktC0XFT7w/RqdONTPNG8KIQuaYuWO0xVyz1wvTvQBH/LWOEDPJNp5wt2yR4D/yXOlBTQFJV2/tHrRDQJQWjKiVINx451MyVSM8phmPMSBTGhfdKFhqGChKCa6XjlId4zSgcHkTRHaDxWZydSEio1CH2TDInuqd/eSPzPayQ6OGmmTMSJBkEnDwUJxzrCo/5wh0mgmg8MIVQy81dMe8T0pU3LOVOC83vlv6Tmlpyj0tHlYeHMndaRRTtoFxWRg47RGTpHFVRFFN2jJ/SK3qwH68V6tz4m0Yw1ndlGP2B9fgGuw6ku</latexit>

C(s) <latexit sha1_base64="WFxCOxcGKBBdGR0eK2xLrF95BiM=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx4MVjFfsB7VKyabYNTbJLkhXK0r/gxYMiXv1D3vw3Zts9aOuDgcd7M8zMC2LOtHHdb6ewsbm1vVPcLe3tHxwelY9POjpKFKFtEvFI9QKsKWeStg0znPZiRbEIOO0G09vM7z5RpVkkH80spr7AY8lCRrDJpIeqvhyWK27NXQCtEy8nFcjRGpa/BqOIJIJKQzjWuu+5sfFTrAwjnM5Lg0TTGJMpHtO+pRILqv10cescXVhlhMJI2ZIGLdTfEykWWs9EYDsFNhO96mXif14/MeGNnzIZJ4ZKslwUJhyZCGWPoxFTlBg+swQTxeytiEywwsTYeEo2BG/15XXSqde8Rq1xf1Vp1vM4inAG51AFD66hCXfQgjYQmMAzvMKbI5wX5935WLYWnHzmFP7A+fwBRPyNsw==</latexit>

C(s)
R(s)
<latexit sha1_base64="KL6A15JxO1pDId1hfaHFsDlRmGg=">AAAB63icbVBNSwMxEJ2tX7V+VT16CRahXspukeqx0IvHCvYD2qVk02wbmmSXJCuUpX/BiwdFvPqHvPlvzLZ70NYHA4/3ZpiZF8ScaeO6305ha3tnd6+4Xzo4PDo+KZ+edXWUKEI7JOKR6gdYU84k7RhmOO3HimIRcNoLZq3M7z1RpVkkH808pr7AE8lCRrDJpFZVX4/KFbfmLoE2iZeTCuRoj8pfw3FEEkGlIRxrPfDc2PgpVoYRThelYaJpjMkMT+jAUokF1X66vHWBrqwyRmGkbEmDlurviRQLrecisJ0Cm6le9zLxP2+QmPDOT5mME0MlWS0KE45MhLLH0ZgpSgyfW4KJYvZWRKZYYWJsPCUbgrf+8ibp1mteo9Z4uKk063kcRbiAS6iCB7fQhHtoQwcITOEZXuHNEc6L8+58rFoLTj5zDn/gfP4ALhONpA==</latexit>

= 2 = C(s)
R(s) s(s + 2εωn )
R(s) s + 2εωn s + ωn2 -
ωn2
<latexit sha1_base64="xoajhMG6dyi4SozvoOAofhstAmI=">AAACPnicbVBNSxxBFOzRJOrma9VjLk2WgEFYZpagXgTBS45ryK7Czrq86X0z29jTPXS/UdZhf5kXf0NuOebiQRGvOab3I2A0BQ1FVT1ev0oKJR2F4c9gafnFy1crq2u112/evntfX9/oOlNagR1hlLEnCThUUmOHJCk8KSxCnig8Ts4Op/7xOVonjf5O4wL7OWRaplIAeWlQ73zbcp/5Po94rIzOrMxGBNaaC344N+LUgqhik2MGA33amlTutLXdii+RgP+VuePb/FFmUG+EzXAG/pxEC9JgC7QH9R/x0IgyR01CgXO9KCyoX4ElKRROanHpsABxBhn2PNWQo+tXs/Mn/JNXhjw11j9NfKY+nqggd26cJz6ZA43cU28q/s/rlZTu9Supi5JQi/mitFScDJ92yYfSoiA19gSElf6vXIzA90W+8ZovIXp68nPSbTWjnebO0ZfGQXNRxyr7wD6yLRaxXXbAvrI26zDBrtgvdsvuguvgJrgPHubRpWAxs8n+QfD7D41arP0=</latexit>

R(s) = 1 →↑ C(s) =
s2 + 2εωn s + ωn2

Recall: properties of LTI systems: Derivative of unit step function = unit impulse function
<latexit sha1_base64="UOXCi3GFNL7JDLVk6nr+5bZ6C4g=">AAACL3icbVDLSgMxFM3UV62vUZdugkVwVWZE1I0gKOKygq1CW0omvaOhmcyQ3BTL0D9y4690I6KIW//C9AE+DwQO55zLzT1RJoXBIHj2CjOzc/MLxcXS0vLK6pq/vlE3qdUcajyVqb6JmAEpFNRQoISbTANLIgnXUfd05F/3QBuRqivsZ9BK2K0SseAMndT2z5sI95ifgRY9J/WApjG1SiA1CBmNreKj4IAe00ly7Ikks9LAl932y0ElGIP+JeGUlMkU1bY/bHZSbhNQyCUzphEGGbZyplFwCYNS0xrIGO+yW2g4qlgCppWP7x3QHad0aJxq9xTSsfp9ImeJMf0kcsmE4Z357Y3E/7yGxfiolQuVWQTFJ4tiKymmdFQe7QgNHGXfEca1cH+l/I5pxtFVXHIlhL9P/kvqe5XwoHJwuV8+qUzrKJItsk12SUgOyQm5IFVSI5w8kCF5Ia/eo/fkvXnvk2jBm85skh/wPj4B2NuqvA==</latexit>

Then c(t) for impulse response can be obtained from differentiating c(t) we have calculated for unit step function.
<latexit sha1_base64="ASCQw2lKT3CYt9qSDHjtwbPpYJE=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BItQLyUpUj0WvHisYGuhDWWz3bRLdzdhdyKU0r/gxYMiXv1D3vw3btoctPXBwOO9GWbmhYngBj3v2ylsbG5t7xR3S3v7B4dH5eOTjolTTVmbxiLW3ZAYJrhibeQoWDfRjMhQsMdwcpv5j09MGx6rB5wmLJBkpHjEKcFMolW8HJQrXs1bwF0nfk4qkKM1KH/1hzFNJVNIBTGm53sJBjOikVPB5qV+alhC6ISMWM9SRSQzwWxx69y9sMrQjWJtS6G7UH9PzIg0ZipD2ykJjs2ql4n/eb0Uo5tgxlWSIlN0uShKhYuxmz3uDrlmFMXUEkI1t7e6dEw0oWjjKdkQ/NWX10mnXvMbtcb9VaVZz+MowhmcQxV8uIYm3EEL2kBhDM/wCm+OdF6cd+dj2Vpw8plT+APn8wdgeI3F</latexit>

<latexit sha1_base64="ASCQw2lKT3CYt9qSDHjtwbPpYJE=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BItQLyUpUj0WvHisYGuhDWWz3bRLdzdhdyKU0r/gxYMiXv1D3vw3btoctPXBwOO9GWbmhYngBj3v2ylsbG5t7xR3S3v7B4dH5eOTjolTTVmbxiLW3ZAYJrhibeQoWDfRjMhQsMdwcpv5j09MGx6rB5wmLJBkpHjEKcFMolW8HJQrXs1bwF0nfk4qkKM1KH/1hzFNJVNIBTGm53sJBjOikVPB5qV+alhC6ISMWM9SRSQzwWxx69y9sMrQjWJtS6G7UH9PzIg0ZipD2ykJjs2ql4n/eb0Uo5tgxlWSIlN0uShKhYuxmz3uDrlmFMXUEkI1t7e6dEw0oWjjKdkQ/NWX10mnXvMbtcb9VaVZz+MowhmcQxV8uIYm3EEL2kBhDM/wCm+OdF6cd+dj2Vpw8plT+APn8wdgeI3F</latexit>

<latexit sha1_base64="jwngycimzWXga77KndPcQbf1lhc=">AAACW3icbVFNSxxBEO0ZE92sXxslp1yKLII5uMyIqIiC4CVHA1kVttelp7dmbezpGbtrAuswf9JTcvCvSHo/QpI1BQ2vXr1Hdb9OCq0cRdHPIFx683Z5pfGuubq2vrHZer915fLSSuzKXOf2JhEOtTLYJUUabwqLIks0Xif3F5P59Xe0TuXmG40L7GdiZFSqpCBPDVo2Aq7xAfgjkoBTiE84cJC79BnOgKdWyIrnGY7EwNQVdw+WqnhvKr7dr2vA22rWwW8VUM2dMn/6RRMNWu2oE00LXoN4DtpsXpeD1hMf5rLM0JDUwrleHBXUr4QlJTXWTV46LIS8FyPseWhEhq5fTbOpYcczQ0hz648hmLJ/OyqROTfOEq/MBN25xdmE/N+sV1J63K+UKUpCI2eL0lID5TAJGobKoiQ99kBIq/xdQd4JHyj572j6EOLFJ78GV/ud+LBz+PWgfd6Zx9FgH9kntstidsTO2Rd2ybpMsh/sJVgJGsFzuBQ2w7WZNAzmnm32T4UffgFbSrOa</latexit>

εn !
0 → ω < 1 : c(t) = ! e→ωεn t sin εn 1 ↑ ω 2t
1 ↑ ω2
ω = 1 : c(t) = εn2 te→ωn t
<latexit sha1_base64="fSX1nsOVmXY+2db01g7CPkQudl0=">AAACGnicbVBNSwMxEM3W7/q16tFLsAh6sOwWqSIIghePFWwVum3JptMams0uyaxQl/4OL/4VLx4U8SZe/DemtYJWHwy8vDdDZl6YSGHQ8z6c3NT0zOzc/EJ+cWl5ZdVdW6+ZONUcqjyWsb4KmQEpFFRRoISrRAOLQgmXYe906F/egDYiVhfYT6ARsa4SHcEZWqnl+sEtIKPH1D8KaED5Du7aRxBH0GUt1SxRpNDM9r4FioOWW/CK3gj0L/HHpEDGqLTct6Ad8zQChVwyY+q+l2AjYxoFlzDIB6mBhPEe60LdUsUiMI1sdNqAblulTTuxtqWQjtSfExmLjOlHoe2MGF6bSW8o/ufVU+wcNjKhkhRB8a+POqmkGNNhTrQtNHCUfUsY18LuSvk104yjTTNvQ/AnT/5LaqWiXy6Wz/cLJ8VxHPNkk2yRHeKTA3JCzkiFVAknd+SBPJFn5955dF6c16/WnDOe2SC/4Lx/AtcxnkU=</latexit>

εn ↑ 2 εn ↑ 2
<latexit sha1_base64="I/5Q8CHjZ//wMZPLQwqGF83Qdrs=">AAACk3iclVFRSxtBEN47tbVprafiky9LQyEiCXehRFHUoD70pWChUSEXw95mLi7u7Z27c0I87g/5c/rWf9PNGaGNRejAwjffNzO7+02USWHQ93857sLi0pu3y+9q7z+sfFz11tYvTJprDj2eylRfRcyAFAp6KFDCVaaBJZGEy+j2dKpf3oM2IlU/cJLBIGFjJWLBGVpq6D2GD4CMHtFgP6Qh5Q3cpoc0jDXjRZgmMGZDVRbt0NxpLKra63YzKEu4LpqNKm/Oa9vPfRRL2vyvWTuvzRp6db/lV0FfgmAG6mQW50PvZzhKeZ6AQi6ZMf3Az3BQMI2CSyhrYW4gY/yWjaFvoWIJmEFReVrSz5YZ0TjV9iikFftnR8ESYyZJZCsThjdmXpuS/9L6OcZ7g0KoLEdQ/OmiOJcUUzpdEB0JDRzlxALGtbBvpfyGWQ/RrrFmTQjmv/wSXLRbQafV+f6l3m3N7FgmW+QTaZCA7JIu+UrOSY9wx3M6zrHTdTfdA/fEPXsqdZ1Zzwb5K9xvvwFYfsfQ</latexit>

ω > 1 : c(t) = ! e→(ω→ ω →1)εn t → ! e→(ω+ ω →1)εn t


2 ω2 → 1 2 ω2 → 1
εn ↑ εn ↑
→(ω→ ω 2 →1)εn t →(ω+ ω 2 →1)εn t
= ! e → ! e
2 ω2 → 1 2 ω2 → 1
Always positive for
overdamped or critically-
damped --> No overshoot !
ε
<latexit sha1_base64="jwngycimzWXga77KndPcQbf1lhc=">AAACW3icbVFNSxxBEO0ZE92sXxslp1yKLII5uMyIqIiC4CVHA1kVttelp7dmbezpGbtrAuswf9JTcvCvSHo/QpI1BQ2vXr1Hdb9OCq0cRdHPIFx683Z5pfGuubq2vrHZer915fLSSuzKXOf2JhEOtTLYJUUabwqLIks0Xif3F5P59Xe0TuXmG40L7GdiZFSqpCBPDVo2Aq7xAfgjkoBTiE84cJC79BnOgKdWyIrnGY7EwNQVdw+WqnhvKr7dr2vA22rWwW8VUM2dMn/6RRMNWu2oE00LXoN4DtpsXpeD1hMf5rLM0JDUwrleHBXUr4QlJTXWTV46LIS8FyPseWhEhq5fTbOpYcczQ0hz648hmLJ/OyqROTfOEq/MBN25xdmE/N+sV1J63K+UKUpCI2eL0lID5TAJGobKoiQ99kBIq/xdQd4JHyj572j6EOLFJ78GV/ud+LBz+PWgfd6Zx9FgH9kntstidsTO2Rd2ybpMsh/sJVgJGsFzuBQ2w7WZNAzmnm32T4UffgFbSrOa</latexit>

à We study 0 → ω < 1 : c(t) = ! n e→ωεn t sin εn 1 ↑ ω 2 t 34


Ali Dadgar – Department of Mechanical Engineering 1 ↑ ω2
dc
<latexit sha1_base64="eSdhMk6bemhHeAXvMJjiVqmR9vE=">AAAB+nicbVBNS8NAEJ3Ur1q/Uj16WSyCp5KIVC9CwYvHCvYD2lA2m027dLMJuxulxPwULx4U8eov8ea/cdvmoK0PBh7vzTAzz084U9pxvq3S2vrG5lZ5u7Kzu7d/YFcPOypOJaFtEvNY9nysKGeCtjXTnPYSSXHkc9r1Jzczv/tApWKxuNfThHoRHgkWMoK1kYZ2dRBKTLKA5Fmgc3SNnKFdc+rOHGiVuAWpQYHW0P4aBDFJIyo04Vipvusk2suw1IxwmlcGqaIJJhM8on1DBY6o8rL56Tk6NUqAwliaEhrN1d8TGY6Umka+6YywHqtlbyb+5/VTHV55GRNJqqkgi0VhypGO0SwHFDBJieZTQzCRzNyKyBibLLRJq2JCcJdfXiWd87rbqDfuLmrNehFHGY7hBM7AhUtowi20oA0EHuEZXuHNerJerHfrY9FasoqZI/gD6/MHk5CTgA==</latexit>

=0
dt
<latexit sha1_base64="YGH18kpBzB2sTJ6/1SWh5TlXQgI=">AAAB+nicbVBNS8NAEN34WetXqkcvwSLUS0hEqseCF48V7Ae0IWy2m3bpbhJ2J9oS81O8eFDEq7/Em//GbZuDtj4YeLw3w8y8IOFMgeN8G2vrG5tb26Wd8u7e/sGhWTlqqziVhLZIzGPZDbCinEW0BQw47SaSYhFw2gnGNzO/80ClYnF0D9OEegIPIxYygkFLvlkhNTj3sz7QCWQCT/LcN6uO7cxhrRK3IFVUoOmbX/1BTFJBIyAcK9VznQS8DEtghNO83E8VTTAZ4yHtaRphQZWXzU/PrTOtDKwwlroisObq74kMC6WmItCdAsNILXsz8T+vl0J47WUsSlKgEVksClNuQWzNcrAGTFICfKoJJpLpWy0ywhIT0GmVdQju8surpH1hu3W7fndZbdhFHCV0gk5RDbnoCjXQLWqiFiLoET2jV/RmPBkvxrvxsWhdM4qZY/QHxucPkHaUKg==</latexit>

c(t)max

of unit-step response

of unit-step response

<latexit sha1_base64="y6bNIeMmpxitfCf0ihJSo26M1Iw=">AAACWnicbVFNa9wwEJXdNh+bfmw/br2ILoVestghpL0EAr30mEI3Caw3y1gee0VkyZHGDVvhP9lLKfSvFKrd9aHNdkDo6b03jPSUN0o6SpKfUfzg4aOd3b39wcHjJ0+fDZ+/uHCmtQInwihjr3JwqKTGCUlSeNVYhDpXeJnffFzpl1/ROmn0F1o2OKuh0rKUAihQ8+FtVloQvhCdL6jjpzzhmTK6srJaEFhr7njGKfAbX0agr/1h2vVHd2vJp4fZNyS4Puo6v0ar3dRYwVzzLct8OErGybr4Nkh7MGJ9nc+H37PCiLZGTUKBc9M0aWjmwZIUCrtB1jpsQNxAhdMANdToZn4dTcffBqbgpbFhaeJr9u8OD7VzyzoPzhpo4e5rK/J/2rSl8sPMS920hFpsBpWt4mT4KmdeSIuC1DIAEFaGu3KxgBAahd8YhBDS+0/eBhdH4/RkfPL5eHQ27uPYY6/ZG/aOpew9O2Of2DmbMMF+sN/RTrQb/YrjeD8+2FjjqO95yf6p+NUfpei2BQ==</latexit>

↓ ! " #
1→ω 2
<latexit sha1_base64="hCyDbP5lT8pp0s/aPEFt+4aPAb8=">AAACe3icbVFdixMxFM2MX2v92KqPggSL2BVbZhZdfREWfPFxBbu70HRLJr0zDZtJxuSOtob5E/403/wnvgim03nQrhcCJ+eeQ27OzSolHSbJzyi+dv3GzVt7t3t37t67v99/8PDUmdoKmAijjD3PuAMlNUxQooLzygIvMwVn2eX7Tf/sC1gnjf6E6wpmJS+0zKXgGKh5/ztTRhdWFkvk1pqvlFExxIO5Zwgr9CVfNQ19R5kpoeBzTbc0rKqGMgU50iEdsdxy4dk3QN545j5b9OmovV4cNg1Dri/8KA2GrW5X0Dkpa6egB/P+IBknbdGrIO3AgHR1Mu//YAsj6hI0CsWdm6ZJhTPPLUqhoOmx2kHFxSUvYBqg5iW4mW+za+izwCxobmw4GmnL/u3wvHRuXWZBWXJcut3ehvxfb1pj/nbmpa5qBC22D+W1omjoZhF0IS0IVOsAuLAyzErFkoeEMKyrF0JId798FZwejtOj8dHHV4PjcRfHHnlMnpIhSckbckw+kBMyIYL8ip5Ez6Nh9DsexC/il1tpHHWeR+Sfil//AXM8wps=</latexit>

→1
dc tan <latexit sha1_base64="jwngycimzWXga77KndPcQbf1lhc=">AAACW3icbVFNSxxBEO0ZE92sXxslp1yKLII5uMyIqIiC4CVHA1kVttelp7dmbezpGbtrAuswf9JTcvCvSHo/QpI1BQ2vXr1Hdb9OCq0cRdHPIFx683Z5pfGuubq2vrHZer915fLSSuzKXOf2JhEOtTLYJUUabwqLIks0Xif3F5P59Xe0TuXmG40L7GdiZFSqpCBPDVo2Aq7xAfgjkoBTiE84cJC79BnOgKdWyIrnGY7EwNQVdw+WqnhvKr7dr2vA22rWwW8VUM2dMn/6RRMNWu2oE00LXoN4DtpsXpeD1hMf5rLM0JDUwrleHBXUr4QlJTXWTV46LIS8FyPseWhEhq5fTbOpYcczQ0hz648hmLJ/OyqROTfOEq/MBN25xdmE/N+sV1J63K+UKUpCI2eL0lID5TAJGobKoiQ99kBIq/xdQd4JHyj572j6EOLFJ78GV/ud+LBz+PWgfd6Zx9FgH9kntstidsTO2Rd2ybpMsh/sJVgJGsFzuBQ2w7WZNAzmnm32T4UffgFbSrOa</latexit>

εn ! ε 1 → ε2 Maximum
= 0 →↑ t = ! ω 0 → ω < 1 : c(t)→↑
= !c(t)maxe→ωε
= nωt nsin
exp 1"
εn → ↑ω t tan→1 2
overshoot
dt ωn 1 → ε 2 1 ↑ ω2 1→ε 2 ε

Recall: properties of LTI systems: Integration of unit impulse function= unit step function
<latexit sha1_base64="x2mKHszgaQdljxXPzK3JGu5Cs9A=">AAACKHicbZDLSgMxFIYzXmu9VV26CRbB1TAjom5EwY3uKtgqtEPJpGdqMJMZkhOxDH0cN76KGxFFuvVJTC+ItwOBn+8/h5Pzx7kUBoNg4E1Nz8zOzZcWyotLyyurlbX1hsms5lDnmcz0dcwMSKGgjgIlXOcaWBpLuIpvT4f+1R1oIzJ1ib0copR1lUgEZ+hQu3LcQrjH4lwhdPWI0SyhVgmkIs2tNEATq/jQOBpjg5B/sX67Ug38YFT0rwgnokomVWtXXlqdjNsUFHLJjGmGQY5RwTQKLqFfblkDOeO3rAtNJxVLwUTF6NA+3XakQ5NMu6eQjuj3iYKlxvTS2HWmDG/Mb28I//OaFpPDqBAqtwiKjxclVlLM6DA12hEaOMqeE4xr4f5K+Q3TjKPLtuxCCH+f/Fc0dv1w39+/2Kue+JM4SmSTbJEdEpIDckLOSI3UCScP5Im8kjfv0Xv23r3BuHXKm8xskB/lfXwC7Nmnrg==</latexit>

Then if we integrate c(t) of unit impulse, we’ll find Mp (of unit step function): area under the curve.
<latexit sha1_base64="ASCQw2lKT3CYt9qSDHjtwbPpYJE=">AAAB63icbVBNS8NAEJ3Ur1q/qh69BItQLyUpUj0WvHisYGuhDWWz3bRLdzdhdyKU0r/gxYMiXv1D3vw3btoctPXBwOO9GWbmhYngBj3v2ylsbG5t7xR3S3v7B4dH5eOTjolTTVmbxiLW3ZAYJrhibeQoWDfRjMhQsMdwcpv5j09MGx6rB5wmLJBkpHjEKcFMolW8HJQrXs1bwF0nfk4qkKM1KH/1hzFNJVNIBTGm53sJBjOikVPB5qV+alhC6ISMWM9SRSQzwWxx69y9sMrQjWJtS6G7UH9PzIg0ZipD2ykJjs2ql4n/eb0Uo5tgxlWSIlN0uShKhYuxmz3uDrlmFMXUEkI1t7e6dEw0oWjjKdkQ/NWX10mnXvMbtcb9VaVZz+MowhmcQxV8uIYm3EEL2kBhDM/wCm+OdF6cd+dj2Vpw8plT+APn8wdgeI3F</latexit>

<latexit sha1_base64="y6I54j4W3gBr7K1yvEDEty52SsY=">AAAB6nicbVBNS8NAEJ3Ur1q/qh69LBbBU0hEqseCFy9CRfsBbSib7aZdutmE3YlQSn+CFw+KePUXefPfuG1z0NYHA4/3ZpiZF6ZSGPS8b6ewtr6xuVXcLu3s7u0flA+PmibJNOMNlshEt0NquBSKN1Cg5O1UcxqHkrfC0c3Mbz1xbUSiHnGc8iCmAyUiwSha6eGul/bKFc/15iCrxM9JBXLUe+Wvbj9hWcwVMkmN6fheisGEahRM8mmpmxmeUjaiA96xVNGYm2AyP3VKzqzSJ1GibSkkc/X3xITGxozj0HbGFIdm2ZuJ/3mdDKPrYCJUmiFXbLEoyiTBhMz+Jn2hOUM5toQyLeythA2ppgxtOiUbgr/88ippXrh+1a3eX1Zqbh5HEU7gFM7BhyuowS3UoQEMBvAMr/DmSOfFeXc+Fq0FJ585hj9wPn8AJziNqw==</latexit>

35
Ali Dadgar – Department of Mechanical Engineering
Higher-Order Systems
<latexit sha1_base64="qS96FMOoFX7JS+DOfaCHjxyHrKc=">AAACP3icbVDLSgMxFM34rPVVdekmWIQWocwUqW6EQjeCmyr2AW0ZMmmmDc1kQpIR6tA/c+MvuHPrxoUibt2ZTmdhWy8k9+Sce5Pc4wlGlbbtV2tldW19YzOzld3e2d3bzx0cNlUYSUwaOGShbHtIEUY5aWiqGWkLSVDgMdLyRrWp3nogUtGQ3+uxIL0ADTj1KUbaUG6u2fUlwnGtoIqT+G66wys4424K6uzRdYpJKhdhtx9qBZNTYIoNEDNVzKnC5cWJm8vbJTsJuAycFORBGnU392IuwFFAuMYMKdVxbKF7MZKaYkYm2W6kiEB4hAakYyBHAVG9OJl/Ak8N04d+KM3iGibs344YBUqNA89UBkgP1aI2Jf/TOpH2L3sx5SLShOPZQ37EoA7h1EzYp5JgzcYGICyp+SvEQ2TM08byrDHBWRx5GTTLJadSqtye56ul1I4MOAYnoAAccAGq4BrUQQNg8ATewAf4tJ6td+vL+p6VrlhpzxGYC+vnF34oq5I=</latexit>

C(s) K(s + z1 )(s + z2 ) . . . (s + zm )


= m→n
<latexit sha1_base64="U1u2NE8p+PQzzAtySYLBbj7WOkA=">AAAB73icbVBNS8NAEJ3Ur1q/qh69LBbBU0lEqseCF48V7Ae0oWy2k3bpZpPuboQS+ie8eFDEq3/Hm//GbZuDtj4YeLw3w8y8IBFcG9f9dgobm1vbO8Xd0t7+weFR+fikpeNUMWyyWMSqE1CNgktsGm4EdhKFNAoEtoPx3dxvP6HSPJaPZpqgH9Gh5CFn1FipE5GewAmR/XLFrboLkHXi5aQCORr98ldvELM0QmmYoFp3PTcxfkaV4UzgrNRLNSaUjekQu5ZKGqH2s8W9M3JhlQEJY2VLGrJQf09kNNJ6GgW2M6JmpFe9ufif101NeOtnXCapQcmWi8JUEBOT+fNkwBUyI6aWUKa4vZWwEVWUGRtRyYbgrb68TlpXVa9WrT1cV+rVPI4inME5XIIHN1CHe2hAExgIeIZXeHMmzovz7nwsWwtOPnMKf+B8/gBaZI96</latexit>

R(s) (s + p1 )(s + p2 ) . . . (s + pn )
<latexit sha1_base64="XtcfBQUDkqvi9iQDrOTKuw0blRw=">AAACWHicbVFNSysxFM2M+tSq71VdugkWoYNQZspD3QiCG8GNilWhU4ZMmmmDmSQkd5Q6zJ8UXOhfcWM67cKvCyEn59yP5CTVglsIw1fPX1hc+rO8stpYW9/4+6+5uXVjVWEo61EllLlLiWWCS9YDDoLdacNIngp2m96fTvXbB2YsV/IaJpoNcjKSPOOUgKOSprpq2wAf4zgzhJZRVdoKx0LJkeGjMRBj1COO8ennpPO23X9KoqDeugGOhwosrk954Bo4pGey/iLrRAZV0myFnbAO/BNEc9BC87hIms+uAS1yJoEKYm0/CjUMSmKAU8GqRlxYpgm9JyPWd1CSnNlBWRtT4T3HDHGmjFsScM1+rihJbu0kT11mTmBsv2tT8jetX0B2NCi51AUwSWeDskJgUHjqMh5ywyiIiQOEGu7uiumYOPfA/UXDmRB9f/JPcNPtRAedg8v/rZPO3I4VtIN2URtF6BCdoDN0gXqIohf07i16S96bj/xlf3WW6nvzmm30JfytD9CFrzc=</latexit>

1 K(s + z1 )(s + z2 ) . . . (s + zm )
R(s) = →↑ C(s) =
s s(s + p1 )(s + p2 ) . . . (s + pn )
>> roots(den)

Real and distinct roots:


n >> num = [-4 8];
a ! ai
<latexit sha1_base64="P9EWKZAeVL0DmC/CDwD5zoIOmTo=">AAACHnicbVDLSsNAFJ3UV62vqEs3g0WoFEoiWt0UCt24rGAf0NQwmU7aoZNJmJkIJeRL3PgrblwoIrjSv3HaRtDWA5d7OOdeZu7xIkalsqwvI7eyura+kd8sbG3v7O6Z+wdtGcYCkxYOWSi6HpKEUU5aiipGupEgKPAY6XjjxtTv3BMhachv1SQi/QANOfUpRkpLrnnRKMlTWIOOLxBOUJrIFJahI+PATWjNTu8Snv6YLtV2OdLNNYtWxZoBLhM7I0WQoemaH84gxHFAuMIMSdmzrUj1EyQUxYykBSeWJEJ4jIakpylHAZH9ZHZeCk+0MoB+KHRxBWfq740EBVJOAk9PBkiN5KI3Ff/zerHyr/oJ5VGsCMfzh/yYQRXCaVZwQAXBik00QVhQ/VeIR0hnoXSiBR2CvXjyMmmfVexqpXpzXqxXsjjy4AgcgxKwwSWog2vQBC2AwQN4Ai/g1Xg0no03430+mjOynUPwB8bnN1mQogk=</latexit>

C(s) = + >> den = [1 6 8]


s i=1 s + pi >> [r,p,k] = residue(num, den)

• Residues determine the relative importance of the pole


• Small residues à continue less to the transient response
• Poles far from the origin à contribute less too

Real roots and pairs of complex conjugate poles (yielding a second-order system):
q r "
a ! aj !
<latexit sha1_base64="R0bt2Ov8ytlWMfkeiu3qNJcV97o=">AAACqXicbZFdb9MwFIad8DXKxzq45MaiArWKqJIIbdxUmrQbLrjYJNpVNG3kuE7nxXZS20EqVv4bv4E7/g2nXYZGx4kivz7vc+zknKwS3Ngw/O35Dx4+evzk4Gnn2fMXLw+7R68mpqw1ZWNailJPM2KY4IqNLbeCTSvNiMwEu8yKs61/+Z1pw0v11W4qNpdkpXjOKbGQSrs/z/pmgEc4yTWhjjTONDjAiall6q5HUbNw6+bWTK/BDipY/iLFDtG3SJYWfRMkP5glaYGTUrIViAHg9M4eatfauuhDCy7iBg5exIDF+7XYbO9qNwDipH366yDWIzVIu71wGO4C3xdRK3qojfO0+ytZlrSWTFkqiDGzKKzs3BFtORWs6SS1YRWhBVmxGUhFJDNzt+t0g99BZonzUsOrLN5l71Y4Io3ZyAxISeyV2fe2yf95s9rmn+aOq6q2TNGbi/JaYFvi7djwkmtGrdiAIFRz+FZMrwj03MJwO9CEaP+X74tJPIyOh8cXH3unw7YdB+gNeov6KEIn6BR9RudojKj33vvijb2JH/gX/tT/doP6XlvzGv0TPv0D1BrNpQ==</latexit>

bk (s + ωk εk ) + ck εk 1 → ωk2
C(s) = + + (q + 2r = n)
s j=1 s + pj s2 + 2ωk εk s + εk2
k=1
<latexit sha1_base64="bfb452R16PhFRcLxDaVabEBSeAA=">AAACrnicfVFda9swFJW9buuyr3R73ItoGHSUBbuMri+Fwl722MKSlsWOkZWbRIk+XOl6kBn/vP2BvvXfTHHTbk1KLwgO55x7JN2bF1I4jKLrIHyy9fTZ8+0XrZevXr95295513emtBx63EhjL3LmQAoNPRQo4aKwwFQu4Tyff1vq57/AOmH0D1wUkCo20WIsOENPZe0/fA8/0WPK6D5NXKmyanYc18PqsqYsm1EYVp+LbIb1nTxvZFvn2bxRk9+AzOPEKJgsgfcm3Lh/ROIuLdIqvrUOD2rciKP8sTwn9Fre/bis3Ym6UVN0E8Qr0CGrOs3aV8nI8FKBRi6Zc4M4KjCtmEXBJdStpHRQMD5nExh4qJkCl1bNuGv60TMjOjbWH420Yf/vqJhybqFy71QMp25dW5IPaYMSx0dpJXRRImh+c9G4lBQNXe6OjoQFjnLhAeNW+LdSPmWWcfQbbvkhxOtf3gT9g2582D08+9I56a7GsU0+kF2yR2LylZyQ7+SU9AgP9oOz4GcwCKOwH6ZhdmMNg1XPe3Kvwulfk2fR2A==</latexit>

q
! r
! " r
! "
→pj t →ωk εk t
c(t) = a + aj e + bk e cos ωk 1→ εk2 t + ck e→ωk εk t sin ωk 1 → εk2 t
j=1 k=1 k=1
36
Ali Dadgar
• Stability can be determined from the location of poles in s-plane
• Poles on the right half s-plane à not permissible.
• Poles dominance:
• Ratio of their real-parts
• Relative magnitude of their residues
• Poles closer to jω axis are more dominant
<latexit sha1_base64="l0ceg+fZAvFm6D+Nsg5iqwnkZQE=">AAAB73icbVDLSgNBEJz1GeMr6tHLYBA8hd0g0WPAi8cI5gHJEmYnvcmYeawzs0JY8hNePCji1d/x5t84SfagiQUNRVU33V1Rwpmxvv/tra1vbG5tF3aKu3v7B4elo+OWUamm0KSKK92JiAHOJDQtsxw6iQYiIg7taHwz89tPoA1T8t5OEggFGUoWM0qskzoPuKcEDEm/VPYr/hx4lQQ5KaMcjX7pqzdQNBUgLeXEmG7gJzbMiLaMcpgWe6mBhNAxGULXUUkEmDCb3zvF504Z4FhpV9Liufp7IiPCmImIXKcgdmSWvZn4n9dNbXwdZkwmqQVJF4vilGOr8Ox5PGAaqOUTRwjVzN2K6YhoQq2LqOhCCJZfXiWtaiWoVWp3l+V6NY+jgE7RGbpAAbpCdXSLGqiJKOLoGb2iN+/Re/HevY9F65qXz5ygP/A+fwCtro+0</latexit>

• All left-plane roots à does not guarantee a satisfactory transient response

• Stability is a property of the system – independent of the input

37
Routh’s Stability Criterion
• The most important problem in linear control systems concerns stability
• Provides answer to the question of absolute stability
• Determining number of poles lie in the right half s-plane

b0 sm + b1 sm→1 + · · · + bm→1 s + bm
<latexit sha1_base64="QKGWd0VvzBftEOH+2KUDfWuUPvg=">AAACaHicbVHLSsQwFE3re3yNL0TcBAdBEIdWRN0IghuXKo4K07HcZlINJmlNUmEIxX905we48SvMdLrwdUPg3HPPTW5OkpwzbYLg3fPHxicmp6ZnGrNz8wuLzaXlG50VitAOyXim7hLQlDNJO4YZTu9yRUEknN4mT2fD+u0LVZpl8toMctoT8CBZyggYR8XN1yhVQOxZaa9KfIKrDNskDvS9wLs4iUN9b8VeWLok6mdGV2TFjKAoLQzV0mUQh9jJ5U85xBWjdyGWJY7qJSJOn7GboBW0gyrwXxDWoIXquIibb+5cUggqDeGgdTcMctOzoAwjnJaNqNA0B/IED7TroARBdc9WRpV42zF9nGbKbWlwxX7vsCC0HojEKQWYR/27NiT/q3ULkx73LJN5Yagko4vSgmOT4aHruM8UJYYPHACimJsVk0dwXhv3Nw1nQvj7yX/BzX47PGwfXh60Ttu1HdNoE22hHRSiI3SKztEF6iCCPrxZb9Vb8z79pr/ub4ykvlf3rKAf4W99ATZqs2I=</latexit>

C
= m→n
R a0 sn + a1 sn→1 + · · · + an→1 s + an

Method:

1) Write characteristics equation in ordered way, removing any zero root:


a0 sn + a1 sn→1 + · · · + an→1 s + an = 0 (an →= 0)
<latexit sha1_base64="pHNS4fbUbdhJm5WwoGnelIcl4SY=">AAACK3icbVDLSgMxFM3UV62vqks3wSJUimVGpLoRim5cVrAP6GO4k6ZtaCYzJhmhDP0fN/6KC134wK3/YTrtQltPCJx77iO5xws5U9q2P6zU0vLK6lp6PbOxubW9k93dq6kgkoRWScAD2fBAUc4ErWqmOW2EkoLvcVr3hteTfP2BSsUCcadHIW370BesxwhoI7nZK3Bt1RG4gMF1sOrE4sQZm6jVDbRK1ERRBXAFvsQ2biUnPwlbgt5j+9jN5uyinQAvEmdGcmiGipt9MdNJ5FOhCQelmo4d6nYMUjPC6TjTihQNgQyhT5uGCvCpasfJrmN8ZJQu7gXSXKFxov7uiMFXauR7ptIHPVDzuYn4X64Z6d5FO2YijDQVZPpQL+JYB3hiHO4ySYnmI0OASGb+iskAJBBt7M0YE5z5lRdJ7bTolIql27NcuTizI40O0CHKIwedozK6QRVURQQ9omf0ht6tJ+vV+rS+pqUpa9azj/7A+v4B36Kigg==</latexit>

2) If any coefficient is negative or zero but at least one positive:


Then, root(s) exists that are either imaginary or have positive real parts à Unstable

NOTE: All coefficients are positive à Necessary condition of stability but, not sufficient

38
Ali Dadgar
3) If all positive coefficients, arrange them in the following pattern:
a0 sn + a1 sn→1 + · · · + an→1 s + an = 0 (an →= 0)
<latexit sha1_base64="pHNS4fbUbdhJm5WwoGnelIcl4SY=">AAACK3icbVDLSgMxFM3UV62vqks3wSJUimVGpLoRim5cVrAP6GO4k6ZtaCYzJhmhDP0fN/6KC134wK3/YTrtQltPCJx77iO5xws5U9q2P6zU0vLK6lp6PbOxubW9k93dq6kgkoRWScAD2fBAUc4ErWqmOW2EkoLvcVr3hteTfP2BSsUCcadHIW370BesxwhoI7nZK3Bt1RG4gMF1sOrE4sQZm6jVDbRK1ERRBXAFvsQ2biUnPwlbgt5j+9jN5uyinQAvEmdGcmiGipt9MdNJ5FOhCQelmo4d6nYMUjPC6TjTihQNgQyhT5uGCvCpasfJrmN8ZJQu7gXSXKFxov7uiMFXauR7ptIHPVDzuYn4X64Z6d5FO2YijDQVZPpQL+JYB3hiHO4ySYnmI0OASGb+iskAJBBt7M0YE5z5lRdJ7bTolIql27NcuTizI40O0CHKIwedozK6QRVURQQ9omf0ht6tJ+vV+rS+pqUpa9azj/7A+v4B36Kigg==</latexit>

sn a0 a2 a4 a6 . . .
<latexit sha1_base64="UAsslsHbosnD+6aQ53+hXTDOMyo=">AAADBnicbZLLbtQwFIadcCvhNqVLWFiMQGwYJdNhyrISmy6LxLSVJkNkOydTq4kT2Q5iFM2KDa/ChgVVxZZnYMfbYJ+OoJ3hSDn6/fs7vpyYN6U0No5/B+GNm7du39m6G927/+Dho9724yNTt1rARNRlrU84M1BKBRMrbQknjQZW8RKO+dlbP3/8EbSRtXpvFw3MKjZXspCCWWdl28HTKOUwl6qrmNXy0zIyHxR9QVkWYx5iHmEe0zSvraFp6qBOvUqWaCeYdzG/xry3Bg49yBHkuCJHnLt1r4O7HhQICgQFgmIDHHkwRzBHMEcwvwr+E77IQ4AF4ArQ8oPCWTjw151nSZSCyv/2Iuv140GMQTdFshJ9sorDrPfL7SraCpQVJTNmmsSNnXVMWylKWEZpa6Bh4ozNYeqkYhWYWYe/cUmfOyenRa3dpyxF92pFxypjFhV3pDvgqVmf8+b/5qatLd7MOqma1oISlxsVbUltTf2boLnUIGy5cIIJLd1ZqThlmgnrXo5vQrJ+5U1xNBwk48H43ai/P1i1Y4s8Ic/IS5KQPbJPDsghmRARfA6+Bt+D8/BL+C28CH9comGwqtkh1yL8+QdQxN0T</latexit>

a1 a2 → a 0 a3 b 1 a 3 → a 1 b2 c 1 b2 → b 1 c 2
<latexit sha1_base64="6k5NAmymyE4DTp1ASspZr51Y308=">AAACCHicbVDLSgMxFM34rPU16tKFwSK4cZhUqW6EghuXFewD2mHIpJk2NJMZkoxQhi7d+CtuXCji1k9w59+YaWehrQcunJxzL7n3BAlnSrvut7W0vLK6tl7aKG9ube/s2nv7LRWnktAmiXksOwFWlDNBm5ppTjuJpDgKOG0Ho5vcbz9QqVgs7vU4oV6EB4KFjGBtJN8+Ij6C17AXSkyywEfYPz/DPgr86iR/Tny74jruFHCRoIJUQIGGb3/1+jFJIyo04VipLnIT7WVYakY4nZR7qaIJJiM8oF1DBY6o8rLpIRN4YpQ+DGNpSmg4VX9PZDhSahwFpjPCeqjmvVz8z+umOrzyMiaSVFNBZh+FKYc6hnkqsM8kJZqPDcFEMrMrJENsMtEmu7IJAc2fvEhaVQfVnNrdRaXuFHGUwCE4BqcAgUtQB7egAZqAgEfwDF7Bm/VkvVjv1sesdckqZg7AH1ifPxtwmBg=</latexit>

<latexit sha1_base64="ztIJjLFdLiaZoztG3ZisTXvHaTU=">AAACCHicbVDLSsNAFJ3UV62vqEsXDhbBjSFTpLoRCm5cVrAPaEOYTCbt0MmDmYlQQpZu/BU3LhRx6ye482+ctFlo64ELZ865l7n3eAlnUtn2t1FZWV1b36hu1ra2d3b3zP2DroxTQWiHxDwWfQ9LyllEO4opTvuJoDj0OO15k5vC7z1QIVkc3atpQp0QjyIWMIKVllzz2HcRvIbDQGCSERd5buPccxFxG3nxzF2zblv2DHCZoJLUQYm2a34N/ZikIY0U4VjKAbIT5WRYKEY4zWvDVNIEkwke0YGmEQ6pdLLZITk81YoPg1joihScqb8nMhxKOQ093RliNZaLXiH+5w1SFVw5GYuSVNGIzD8KUg5VDItUoM8EJYpPNcFEML0rJGOsM1E6u5oOAS2evEy6DQs1rebdRb1llXFUwRE4AWcAgUvQAregDTqAgEfwDF7Bm/FkvBjvxse8tWKUM4fgD4zPHyNMmB0=</latexit>

<latexit sha1_base64="YkKpuwHy9aXhBpN6IdzLAJd+ZNo=">AAACCHicbVDLSsNAFJ34rPUVdenCwSK4MSRVqhuh4MZlBfuANoSb6aQdOnkwMxFK6NKNv+LGhSJu/QR3/o2TNgttPXDhzDn3MvceP+FMKtv+NpaWV1bX1ksb5c2t7Z1dc2+/JeNUENokMY9FxwdJOYtoUzHFaScRFEKf07Y/usn99gMVksXRvRon1A1hELGAEVBa8swj33PwNe4FAkgGngNe9Qw8G7zzSf6ceGbFtuwp8CJxClJBBRqe+dXrxyQNaaQIBym7jp0oNwOhGOF0Uu6lkiZARjCgXU0jCKl0s+khE3yilT4OYqErUniq/p7IIJRyHPq6MwQ1lPNeLv7ndVMVXLkZi5JU0YjMPgpSjlWM81RwnwlKFB9rAkQwvSsmQ9CZKJ1dWYfgzJ+8SFpVy6lZtbuLSt0q4iihQ3SMTpGDLlEd3aIGaiKCHtEzekVvxpPxYrwbH7PWJaOYOUB/YHz+ABORmBM=</latexit>

n→1
s a1 a3 a5 a7 . . . b1 = c1 = d1 =

F
sn→2 b1 b2 b3 b4 . . . a1 b1 c1
a1 a4 → a 0 a5 b 1 a 5 → a 1 b3 c 1 b3 → b 1 c 3 …
<latexit sha1_base64="MGMkwWe3PkEskQ9flffeiCd70GQ=">AAACCHicbVDLSgMxFM3UV62vUZcuDBbBjcNM1epGKLhxWcE+oB1CJs20oZkHSUYowyzd+CtuXCji1k9w59+YaWehrQcunJxzL7n3eDFnUtn2t1FaWl5ZXSuvVzY2t7Z3zN29towSQWiLRDwSXQ9LyllIW4opTruxoDjwOO1445vc7zxQIVkU3qtJTN0AD0PmM4KVlpB5SFANXsO+LzBJPeRgdHGKkeOhsyx/Zsis2pY9BVwkTkGqoEATmV/9QUSSgIaKcCxlz7Fj5aZYKEY4zSr9RNIYkzEe0p6mIQ6odNPpIRk81soA+pHQFSo4VX9PpDiQchJ4ujPAaiTnvVz8z+slyr9yUxbGiaIhmX3kJxyqCOapwAETlCg+0QQTwfSukIywzkTp7Co6BGf+5EXSrllO3arfnVcbVhFHGRyAI3ACHHAJGuAWNEELEPAInsEreDOejBfj3fiYtZaMYmYf/IHx+QMhvJgc</latexit>

<latexit sha1_base64="6yJXBfZylYTsTWIVGaUAUnlAlMU=">AAACCHicbVDLSsNAFJ3UV62vqEsXDhbBjSFppboRCm5cVrAPaEOYTCbt0MkkzEyEErp046+4caGIWz/BnX/jpM1CWw9cOHPOvcy9x08Ylcq2v43Syura+kZ5s7K1vbO7Z+4fdGScCkzaOGax6PlIEkY5aSuqGOklgqDIZ6Trj29yv/tAhKQxv1eThLgRGnIaUoyUljzzOPBq8BoOQoFwhj3H9+rnvudgrz7Nn1PPrNqWPQNcJk5BqqBAyzO/BkGM04hwhRmSsu/YiXIzJBTFjEwrg1SSBOExGpK+phxFRLrZ7JApPNVKAMNY6OIKztTfExmKpJxEvu6MkBrJRS8X//P6qQqv3IzyJFWE4/lHYcqgimGeCgyoIFixiSYIC6p3hXiEdCZKZ1fRITiLJy+TTs1yGlbj7qLatIo4yuAInIAz4IBL0AS3oAXaAINH8AxewZvxZLwY78bHvLVkFDOH4A+Mzx8oB5gg</latexit>

<latexit sha1_base64="e9Pvi8FMW7x3+d3evbu+Awi7rtY=">AAACCHicbVDLSsNAFJ3UV62vqksXDhbBjSEptboRCm5cVrAPaEO4mU7aoZMHMxOhhCzd+CtuXCji1k9w5984bbPQ1gMXzpxzL3Pv8WLOpLKsb6Owsrq2vlHcLG1t7+zulfcP2jJKBKEtEvFIdD2QlLOQthRTnHZjQSHwOO1445up33mgQrIovFeTmDoBDEPmMwJKS2752HOr+Br3fQEkBdcGt3YOrgXuRTZ9Zm65YpnWDHiZ2DmpoBxNt/zVH0QkCWioCAcpe7YVKycFoRjhNCv1E0ljIGMY0p6mIQRUOunskAyfamWA/UjoChWeqb8nUgiknASe7gxAjeSiNxX/83qJ8q+clIVxomhI5h/5CccqwtNU8IAJShSfaAJEML0rJiPQmSidXUmHYC+evEzaVdOum/W7WqVh5nEU0RE6QWfIRpeogW5RE7UQQY/oGb2iN+PJeDHejY95a8HIZw7RHxifPxtnmBg=</latexit>

sn→3 c1 c2 c3 c4 . . . b2 = c2 = d2 =
sn→4 d1 d2 d3 d4 . . . a1 b1 c1
a1 a6 → a 0 a7 b 1 a 7 → a 1 b4 c 1 b4 → b 1 c 4
<latexit sha1_base64="A7XIRnpbL9maShxB5/uM5E45h3I=">AAACCHicbVDLSsNAFJ3UV62vqEsXDhbBjSHR0roRCm5cVrAPaEOYTCft0MkkzEyEErJ046+4caGIWz/BnX/jpM1CWw9cOHPOvcy9x48Zlcq2v43Syura+kZ5s7K1vbO7Z+4fdGSUCEzaOGKR6PlIEkY5aSuqGOnFgqDQZ6TrT25yv/tAhKQRv1fTmLghGnEaUIyUljzzGHuX8BoOAoFw6nsO8hrnyHN8r5blz8wzq7ZlzwCXiVOQKijQ8syvwTDCSUi4wgxJ2XfsWLkpEopiRrLKIJEkRniCRqSvKUchkW46OySDp1oZwiASuriCM/X3RIpCKaehrztDpMZy0cvF/7x+ooIrN6U8ThTheP5RkDCoIpinAodUEKzYVBOEBdW7QjxGOhOls6voEJzFk5dJ58Jy6lb9rlZtWkUcZXAETsAZcEADNMEtaIE2wOARPINX8GY8GS/Gu/Exby0Zxcwh+APj8wcoCJgg</latexit>

<latexit sha1_base64="0yInp0IuQ8Q6yEoZWJQHL58owCQ=">AAACCHicbVDLSsNAFJ34rPUVdenCwSK4MSRaqhuh4MZlBfuANoTJZNIOnUzCzEQoIUs3/oobF4q49RPc+TdO2iy09cCFM+fcy9x7/IRRqWz721haXlldW69sVDe3tnd2zb39joxTgUkbxywWPR9JwignbUUVI71EEBT5jHT98U3hdx+IkDTm92qSEDdCQ05DipHSkmceBd4FvIaDUCCcYc/xvfqZ7znYq+fFM/fMmm3ZU8BF4pSkBkq0PPNrEMQ4jQhXmCEp+46dKDdDQlHMSF4dpJIkCI/RkPQ15Sgi0s2mh+TwRCsBDGOhiys4VX9PZCiSchL5ujNCaiTnvUL8z+unKrxyM8qTVBGOZx+FKYMqhkUqMKCCYMUmmiAsqN4V4hHSmSidXVWH4MyfvEg655bTsBp39VrTKuOogENwDE6BAy5BE9yCFmgDDB7BM3gFb8aT8WK8Gx+z1iWjnDkAf2B8/gAswpgj</latexit>

<latexit sha1_base64="pLnxXn76X+LepN9y1x3bc6+5u6g=">AAACCHicbVDLSsNAFJ34rPUVdenCwSK4MSQqrRuh4MZlBfuANoSb6aQdOnkwMxFK6NKNv+LGhSJu/QR3/o2TNgttPXDhzDn3MvceP+FMKtv+NpaWV1bX1ksb5c2t7Z1dc2+/JeNUENokMY9FxwdJOYtoUzHFaScRFEKf07Y/usn99gMVksXRvRon1A1hELGAEVBa8swj37vA17gXCCAZeA541TPwbPBqk/w58cyKbdlT4EXiFKSCCjQ886vXj0ka0kgRDlJ2HTtRbgZCMcLppNxLJU2AjGBAu5pGEFLpZtNDJvhEK30cxEJXpPBU/T2RQSjlOPR1ZwhqKOe9XPzP66YquHIzFiWpohGZfRSkHKsY56ngPhOUKD7WBIhgeldMhqAzUTq7sg7BmT95kbTOLadqVe8uK3WriKOEDtExOkUOqqE6ukUN1EQEPaJn9IrejCfjxXg3PmatS0Yxc4D+wPj8ASM9mB0=</latexit>

... b3 = c3 = d3 =
a1 b1 c1
… … …
s2 e1 e2
s1 f1
s0 g1

(Total rows = n + 1 )
<latexit sha1_base64="dHylDGq8yT/qzCIgQazYRTknr4Q=">AAAB7XicbVBNS8NAEJ3Ur1q/qh69LBZBEEIiUj0WvHisYD+gDWWz3bRrN7thdyOU0P/gxYMiXv0/3vw3btoctPXBwOO9GWbmhQln2njet1NaW9/Y3CpvV3Z29/YPqodHbS1TRWiLSC5VN8SaciZoyzDDaTdRFMchp51wcpv7nSeqNJPiwUwTGsR4JFjECDZWagt0gfzKoFrzXG8OtEr8gtSgQHNQ/eoPJUljKgzhWOue7yUmyLAyjHA6q/RTTRNMJnhEe5YKHFMdZPNrZ+jMKkMUSWVLGDRXf09kONZ6Goe2M8ZmrJe9XPzP66UmugkyJpLUUEEWi6KUIyNR/joaMkWJ4VNLMFHM3orIGCtMjA0oD8FffnmVtC9dv+7W769qDbeIowwncArn4MM1NOAOmtACAo/wDK/w5kjnxXl3PhatJaeYOYY/cD5/AIx1jcE=</latexit>

NOTE:
Each row can be multiplied or divided by a positive number to simplify the following rows.

39
Ali Dadgar
Routh’s Stability:

# of roots with positive real parts = # of changes in the sign of the first column
If all coefficients of characteristics equation are positive & no sign change à The system is stable

Example:
<latexit sha1_base64="FpCdXoOiY8gO8ir/tbezhAjROZQ=">AAAB/XicbVDLSsNAFJ3UV62v+Ni5GSyCEAhJW6sboeDGZQXbCm1aJtNJO3QyCTMToYbir7hxoYhb/8Odf+O0zUJbD1w4nHMv997jx4xK5TjfRm5ldW19I79Z2Nre2d0z9w+aMkoEJg0csUjc+0gSRjlpKKoYuY8FQaHPSMsfXU/91gMRkkb8To1j4oVowGlAMVJa6plHsluxSrJbtsqyW7Iq0jq/cnpm0bGdGeAycTNSBBnqPfOr049wEhKuMENStl0nVl6KhKKYkUmhk0gSIzxCA9LWlKOQSC+dXT+Bp1rpwyASuriCM/X3RIpCKcehrztDpIZy0ZuK/3ntRAWXXkp5nCjC8XxRkDCoIjiNAvapIFixsSYIC6pvhXiIBMJKB1bQIbiLLy+TZsl2q3b1tlKs2VkceXAMTsAZcMEFqIEbUAcNgMEjeAav4M14Ml6Md+Nj3pozsplD8AfG5w/Ki5LQ</latexit>

s4 + 2s3 + 3s2 + 4s + 5 = 0
unstable

s4 54 1 3 5
<latexit sha1_base64="BfwXqcU5XlfeEFD5UlYKR/Ciz/s=">AAACRHicbVDLSgMxFM34rOOr6tJNsCiuykyt1WXBjcsK9gGdWjLpbRuayQxJRixDP86NH+DOL3DjQhG3YmZaRK0XDpycc29yc/yIM6Ud58laWFxaXlnNrdnrG5tb2/md3YYKY0mhTkMeypZPFHAmoK6Z5tCKJJDA59D0Rxep37wFqVgorvU4gk5ABoL1GSXaSN182/Z8GDCRBERLdjex1U0ZH2HX4MTgFHuekVJaMkgtJ1PS09RLWzPi4CPbA9H7vqqbLzhFJys8T9wZKaBZ1br5R68X0jgAoSknSrVdJ9KdhEjNKIeJ7cUKIkJHZABtQwUJQHWSLIQJPjRKD/dDaSA0ztSfEwkJlBoHvuk0Cw7VXy8V//Pase6fdxImoliDoNOH+jHHOsRporjHJFDNx4YQKpnZFdMhkYRqk3sagvv3y/OkUSq6lWLlqlyolmZx5NA+OkDHyEVnqIouUQ3VEUX36Bm9ojfrwXqx3q2PaeuCNZvZQ7/K+vwCs9uoZg==</latexit>

1 3 5
s3 2 4 0
53 1 2 0 signchanges in 1stCol 2
s2 2
s1 s2 5 6 2 rootswithpositive
s0 s realparts
5 5

40
Ali Dadgar
Example:
If in a row:
3 2
<latexit sha1_base64="Xnqa0a4z+j2wL1Yc4Fh0Z7hcFZw=">AAAB/nicbZDLSgMxFIbP1Futt1Fx5SZYBEEoM6NUN0LBjcsK9gLttGTSTBuauZBkhDIUfBU3LhRx63O4823MtLPQ1gMhH/9/Djn5vZgzqSzr2yisrK6tbxQ3S1vbO7t75v5BU0aJILRBIh6Jtocl5SykDcUUp+1YUBx4nLa88W3mtx6pkCwKH9Qkpm6AhyHzGcFKS33zSPYu0DlyZM/Rl8wQ3Vh9s2xVrFmhZbBzKENe9b751R1EJAloqAjHUnZsK1ZuioVihNNpqZtIGmMyxkPa0RjigEo3na0/RadaGSA/EvqECs3U3xMpDqScBJ7uDLAayUUvE//zOonyr92UhXGiaEjmD/kJRypCWRZowAQlik80YCKY3hWRERaYKJ1YSYdgL355GZpOxa5WqveX5ZqTx1GEYziBM7DhCmpwB3VoAIEUnuEV3own48V4Nz7mrQUjnzmEP2V8/gDTi5Ik</latexit>

s + 2s + s + 2 = 0 • 1st. column term = 0


• Remaining terms = 0 or there’s no remaining term

it
i
Replace 0 with ω
<latexit sha1_base64="/Kej81Tim82icuntex3T1lZ48rc=">AAAB73icbVDLSgNBEOz1GeMr6tHLYBA8hV2R6DHgxWME84BkCbOT3mTI7Mw6MyuEkJ/w4kERr/6ON//GSbIHTSxoKKq66e6KUsGN9f1vb219Y3Nru7BT3N3bPzgsHR03jco0wwZTQul2RA0KLrFhuRXYTjXSJBLYika3M7/1hNpwJR/sOMUwoQPJY86odVK7i6nhQsleqexX/DnIKglyUoYc9V7pq9tXLEtQWiaoMZ3AT204odpyJnBa7GYGU8pGdIAdRyVN0IST+b1Tcu6UPomVdiUtmau/JyY0MWacRK4zoXZolr2Z+J/XyWx8E064TDOLki0WxZkgVpHZ86TPNTIrxo5Qprm7lbAh1ZRZF1HRhRAsv7xKmpeVoFqp3l+Va9U8jgKcwhlcQADXUIM7qEMDGAh4hld48x69F+/d+1i0rnn5zAn8gff5A0zHkB8=</latexit>

• If the signs of coefficients above ω is the same as that below:


<latexit sha1_base64="/Kej81Tim82icuntex3T1lZ48rc=">AAAB73icbVDLSgNBEOz1GeMr6tHLYBA8hV2R6DHgxWME84BkCbOT3mTI7Mw6MyuEkJ/w4kERr/6ON//GSbIHTSxoKKq66e6KUsGN9f1vb219Y3Nru7BT3N3bPzgsHR03jco0wwZTQul2RA0KLrFhuRXYTjXSJBLYika3M7/1hNpwJR/sOMUwoQPJY86odVK7i6nhQsleqexX/DnIKglyUoYc9V7pq9tXLEtQWiaoMZ3AT204odpyJnBa7GYGU8pGdIAdRyVN0IST+b1Tcu6UPomVdiUtmau/JyY0MWacRK4zoXZolr2Z+J/XyWx8E064TDOLki0WxZkgVpHZ86TPNTIrxo5Qprm7lbAh1ZRZF1HRhRAsv7xKmpeVoFqp3l+Va9U8jgKcwhlcQADXUIM7qEMDGAh4hld48x69F+/d+1i0rnn5zAn8gff5A0zHkB8=</latexit>

Ø There’re pairs of complex conjugate pairs


• If the signs of coefficients above ω is opposite that below:
<latexit sha1_base64="/Kej81Tim82icuntex3T1lZ48rc=">AAAB73icbVDLSgNBEOz1GeMr6tHLYBA8hV2R6DHgxWME84BkCbOT3mTI7Mw6MyuEkJ/w4kERr/6ON//GSbIHTSxoKKq66e6KUsGN9f1vb219Y3Nru7BT3N3bPzgsHR03jco0wwZTQul2RA0KLrFhuRXYTjXSJBLYika3M7/1hNpwJR/sOMUwoQPJY86odVK7i6nhQsleqexX/DnIKglyUoYc9V7pq9tXLEtQWiaoMZ3AT204odpyJnBa7GYGU8pGdIAdRyVN0IST+b1Tcu6UPomVdiUtmau/JyY0MWacRK4zoXZolr2Z+J/XyWx8E064TDOLki0WxZkgVpHZ86TPNTIrxo5Qprm7lbAh1ZRZF1HRhRAsv7xKmpeVoFqp3l+Va9U8jgKcwhlcQADXUIM7qEMDGAh4hld48x69F+/d+1i0rnn5zAn8gff5A0zHkB8=</latexit>

5 2 2 Ø There’s a sign change

41
Ali Dadgar
Example:
If in a row:

s5 + 2s4 + 24s3 + 48s2 → 25s → 50 = 0 • All column term = 0


<latexit sha1_base64="eBzT8BuqI8SMsF4NwozCPEfNDYo=">AAACBnicbVDLSsNAFJ3UV62vqEsRBosglJYkprUboeDGZQX7gDYpk+mkHTp5MDMRSujKjb/ixoUibv0Gd/6N08dCWw9cOJxzL/fe48WMCmkY31pmbX1jcyu7ndvZ3ds/0A+PmiJKOCYNHLGItz0kCKMhaUgqGWnHnKDAY6TljW6mfuuBcEGj8F6OY+IEaBBSn2IkldTTT4VbLljCtQuWLdzLgl0VrlW0yqJYNq6Nnp43SsYMcJWYC5IHC9R7+le3H+EkIKHEDAnRMY1YOinikmJGJrluIkiM8AgNSEfREAVEOOnsjQk8V0of+hFXFUo4U39PpCgQYhx4qjNAciiWvan4n9dJpF91UhrGiSQhni/yEwZlBKeZwD7lBEs2VgRhTtWtEA8RR1iq5HIqBHP55VXStEpmpVS5s/O1yiKOLDgBZ+ACmOAK1MAtqIMGwOARPINX8KY9aS/au/Yxb81oi5lj8Afa5w+xWJVp</latexit>

5 1 24 25 • There are two roots with equal magnitude but


opposite signs or:
54 2 48 50 • There are two complex conjugate roots

53 PCs 254 5 50 0
• Make polynomial with last row’s coefficients: P (s)
<latexit sha1_base64="PohqIz8bvYsxKHwYwsrfwNnCyJM=">AAAB63icbVBNS8NAEJ3Ur1q/qh69LBahXkoiEj0WvHisYD+gDWWz3bRLdzdhdyOU0L/gxYMiXv1D3vw3btoctPXBwOO9GWbmhQln2rjut1Pa2Nza3invVvb2Dw6PqscnHR2nitA2iXmseiHWlDNJ24YZTnuJoliEnHbD6V3ud5+o0iyWj2aW0EDgsWQRI9jkUquuL4fVmttwF0DrxCtIDQq0htWvwSgmqaDSEI617ntuYoIMK8MIp/PKINU0wWSKx7RvqcSC6iBb3DpHF1YZoShWtqRBC/X3RIaF1jMR2k6BzUSvern4n9dPTXQbZEwmqaGSLBdFKUcmRvnjaMQUJYbPLMFEMXsrIhOsMDE2nooNwVt9eZ10rhqe3/AfrmtNv4ijDGdwDnXw4AaacA8taAOBCTzDK7w5wnlx3p2PZWvJKWZO4Q+czx9DIo21</latexit>

• Differentiate: dP (s)/ds = 0
<latexit sha1_base64="kVYpHcZwY6RPZdAse7AZVVTtwPk=">AAAB8XicbVBNSwMxEJ31s9avqkcvwSLUS90VqV6EghePFewHtkvJZrNtaDZZkqxQlv4LLx4U8eq/8ea/MW33oK0PBh7vzTAzL0g408Z1v52V1bX1jc3CVnF7Z3dvv3Rw2NIyVYQ2ieRSdQKsKWeCNg0znHYSRXEccNoORrdTv/1ElWZSPJhxQv0YDwSLGMHGSo9ho6LPzkN94/ZLZbfqzoCWiZeTMuRo9EtfvVCSNKbCEI617npuYvwMK8MIp5NiL9U0wWSEB7RrqcAx1X42u3iCTq0SokgqW8Kgmfp7IsOx1uM4sJ0xNkO96E3F/7xuaqJrP2MiSQ0VZL4oSjkyEk3fRyFTlBg+tgQTxeytiAyxwsTYkIo2BG/x5WXSuqh6tWrt/rJcr+VxFOAYTqACHlxBHe6gAU0gIOAZXuHN0c6L8+58zFtXnHzmCP7A+fwB9riPyA==</latexit>

24 50 15196s • Replace new coefficients in the all zeros row.

112.7 0
5 50

42
Ali Dadgar
Example: Finding canonical range for gain factor

C
<latexit sha1_base64="9efFSIVj6XxMWBECpmB6Gq5A36I=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4KolI9VjoxWML9gPaUDbbSbt2swm7G6GE/gIvHhTx6k/y5r9x2+agrQ8GHu/NMDMvSATXxnW/nY3Nre2d3cJecf/g8Oi4dHLa1nGqGLZYLGLVDahGwSW2DDcCu4lCGgUCO8GkPvc7T6g0j+WDmSboR3QkecgZNVZq1gelsltxFyDrxMtJGXI0BqWv/jBmaYTSMEG17nluYvyMKsOZwFmxn2pMKJvQEfYslTRC7WeLQ2fk0ipDEsbKljRkof6eyGik9TQKbGdEzVivenPxP6+XmvDOz7hMUoOSLReFqSAmJvOvyZArZEZMLaFMcXsrYWOqKDM2m6INwVt9eZ20rytetVJt3pRrlTyOApzDBVyBB7dQg3toQAsYIDzDK7w5j86L8+58LFs3nHzmDP7A+fwBk3OMvg==</latexit>

R +
<latexit sha1_base64="09gyVSUwka2qRMAE9imjG4/8zDM=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4ColI9Vjw4rEV+wFtKJvtpF272YTdjVBKf4EXD4p49Sd589+4bXPQ1gcDj/dmmJkXpoJr43nfztr6xubWdmGnuLu3f3BYOjpu6iRTDBssEYlqh1Sj4BIbhhuB7VQhjUOBrXB0O/NbT6g0T+SDGacYxHQgecQZNVaq3/dKZc/15iCrxM9JGXLUeqWvbj9hWYzSMEG17vheaoIJVYYzgdNiN9OYUjaiA+xYKmmMOpjMD52Sc6v0SZQoW9KQufp7YkJjrcdxaDtjaoZ62ZuJ/3mdzEQ3wYTLNDMo2WJRlAliEjL7mvS5QmbE2BLKFLe3EjakijJjsynaEPzll1dJ89L1K26lflWuunkcBTiFM7gAH66hCndQgwYwQHiGV3hzHp0X5935WLSuOfnMCfyB8/kDqi+MzQ==</latexit>

1
<latexit sha1_base64="TTYzUygALB7PzDnvFdBXVJMgXQs=">AAACAnicbVBNS8NAEJ3Ur1q/op7ES7AILYWQFKkeC148VrAf0May2W7apZtN2N0IJRQv/hUvHhTx6q/w5r9x2+agrQ8GHu/NMDPPjxmVynG+jdza+sbmVn67sLO7t39gHh61ZJQITJo4YpHo+EgSRjlpKqoY6cSCoNBnpO2Pr2d++4EISSN+pyYx8UI05DSgGCkt9c2TXiAQTt1pKkvyvlqRFbdckpVqedo3i47tzGGtEjcjRcjQ6JtfvUGEk5BwhRmSsus6sfJSJBTFjEwLvUSSGOExGpKuphyFRHrp/IWpda6VgRVEQhdX1lz9PZGiUMpJ6OvOEKmRXPZm4n9eN1HBlZdSHieKcLxYFCTMUpE1y8MaUEGwYhNNEBZU32rhEdKZKJ1aQYfgLr+8SlpV263ZtduLYt3O4sjDKZxBCVy4hDrcQAOagOERnuEV3own48V4Nz4WrTkjmzmGPzA+fwCh35WX</latexit>

K
<latexit sha1_base64="1HO1cpsciAu6xRGzQevqR78RvhU=">AAAB6HicbVBNS8NAEJ34WetX1aOXxSJ4ColI9VjwInhpwX5AG8pmO2nXbjZhdyOU0l/gxYMiXv1J3vw3btsctPXBwOO9GWbmhang2njet7O2vrG5tV3YKe7u7R8clo6OmzrJFMMGS0Si2iHVKLjEhuFGYDtVSONQYCsc3c781hMqzRP5YMYpBjEdSB5xRo2V6ve9UtlzvTnIKvFzUoYctV7pq9tPWBajNExQrTu+l5pgQpXhTOC02M00ppSN6AA7lkoaow4m80On5NwqfRIlypY0ZK7+npjQWOtxHNrOmJqhXvZm4n9eJzPRTTDhMs0MSrZYFGWCmITMviZ9rpAZMbaEMsXtrYQNqaLM2GyKNgR/+eVV0rx0/YpbqV+Vq24eRwFO4QwuwIdrqMId1KABDBCe4RXenEfnxXl3Phata04+cwJ/4Hz+AJ+TjMY=</latexit>

s(s2 + s + 1)(s + 2)
-

C K
<latexit sha1_base64="KYpTDVjru4Gf/AuoIzQFDWz/E2I=">AAACE3icbVDLSgMxFM3UV62vUZdugkUQC8NMW6obodCN0E0V+4B2WjJppg3NPEgyQhnmH9z4K25cKOLWjTv/xkzbhbYeSDg5515u7nFCRoU0zW8ts7a+sbmV3c7t7O7tH+iHRy0RRByTJg5YwDsOEoRRnzQllYx0Qk6Q5zDSdia11G8/EC5o4N/LaUhsD4186lKMpJIG+kXP5QjHtSS+S+A1nL/qSSz65UJJ9EvpVSwURaGeDPS8aZgzwFViLUgeLNAY6F+9YYAjj/gSMyRE1zJDaceIS4oZSXK9SJAQ4Qkaka6iPvKIsOPZTgk8U8oQugFXx5dwpv7uiJEnxNRzVKWH5Fgse6n4n9eNpHtlx9QPI0l8PB/kRgzKAKYBwSHlBEs2VQRhTtVfIR4jFYtUMeZUCNbyyqukVTSsilG5LeerxiKOLDgBp+AcWOASVMENaIAmwOARPINX8KY9aS/au/YxL81oi55j8Afa5w9gqZyB</latexit>

= 4
R s + 3s + 3s2 + 2s + K
3

is
2
01414T
9k
43
Ali Dadgar

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