Block Diagrams in Control Systems
Block Diagrams in 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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D(s)
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Gf
+ +
+ + +
O
U
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E
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0
<latexit sha1_base64="QJoQl5NlO1LRj/PPJDm4mSO9r00=">AAAB63icbVBNS8NAEJ34WetX1aOXxSLUS0hEqseCF48V7Ie0oWy2m3bp7ibsboQS+he8eFDEq3/Im//GTZuDtj4YeLw3w8y8MOFMG8/7dtbWNza3tks75d29/YPDytFxW8epIrRFYh6rbog15UzSlmGG026iKBYhp51wcpv7nSeqNIvlg5kmNBB4JFnECDa59FjTF4NK1XO9OdAq8QtShQLNQeWrP4xJKqg0hGOte76XmCDDyjDC6azcTzVNMJngEe1ZKrGgOsjmt87QuVWGKIqVLWnQXP09kWGh9VSEtlNgM9bLXi7+5/VSE90EGZNJaqgki0VRypGJUf44GjJFieFTSzBRzN6KyBgrTIyNp2xD8JdfXiXtS9evu/X7q2rDLeIowSmcQQ18uIYG3EETWkBgDM/wCm+OcF6cd+dj0brmFDMn8AfO5w9OeY22</latexit>
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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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Y = Gp [D + G1 U ] (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
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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 !!
<latexit sha1_base64="9z0SGyv49IV1E9Azl4wEfxuB+rc=">AAACOnicbVDLSgMxFM34tr6qLt0Ei1ARhhkRdVMoKNSlltYHnRIyaaYNZh4kd4Qyzne58SvcuXDjQhG3foBpnYWvAyGHc84lucdPpNDgOI/WxOTU9Mzs3HxpYXFpeaW8unau41Qx3maxjNWlTzWXIuJtECD5ZaI4DX3JL/zro5F/ccOVFnHUgmHCuyHtRyIQjIKRSPnMkzwAG3uBoiy7yrNmjj0l+gPAtyQ7rjk5rhVmg7gNklQbhO00SLCdZ665mZGMcTKKtUizqrdJueLYzhj4L3ELUkEFTkn5wevFLA15BExSrTuuk0A3owoEkzwveanmCWXXtM87hkY05LqbjVfP8ZZRejiIlTkR4LH6fSKjodbD0DfJkMJA//ZG4n9eJ4XgsJuJKEmBR+zroSCVGGI86hH3hOIM5NAQypQwf8VsQE1PYNoumRLc3yv/Jee7trtv75/tVep2Uccc2kCbqIpcdIDq6ASdojZi6A49oRf0at1bz9ab9f4VnbCKmXX0A9bHJ4Y0qrU=</latexit>
G1 Gp (Gc + Gf )
! = = TR (s)
R D=0 1 + G c Gp G 1 H
!
Y !!
<latexit sha1_base64="iO6qOCwuIBp5wOEHMJFT6eymjl0=">AAACLnicbZDLSsNAFIYnXmu9VV26GSyCIoREpLoRBCvtsoptlaaEyXTSDp1cmDkRSswTufFVdCGoiFsfw2nNwtuBgY//P4cz5/diwRVY1rMxNT0zOzdfWCguLi2vrJbW1lsqSiRlTRqJSF55RDHBQ9YEDoJdxZKRwBOs7Q1Px377hknFo/ASRjHrBqQfcp9TAlpyS2eOYD6Y2PEloel1llYz7EjeHwC+ddOLYyvDx7lZc+MstfdqLtVUc+362Lp0qztq1y2VLdOaFP4Ldg5llFfDLT06vYgmAQuBCqJUx7Zi6KZEAqeCZUUnUSwmdEj6rKMxJAFT3XRyboa3tdLDfiT1CwFP1O8TKQmUGgWe7gwIDNRvbyz+53US8I+6KQ/jBFhIvxb5icAQ4XF2uMcloyBGGgiVXP8V0wHR2YBOuKhDsH+f/Bda+6ZdMSvnB+UTM4+jgDbRFtpBNjpEJ6iOGqiJKLpDD+gFvRr3xpPxZrx/tU4Z+cwG+lHGxyddbqbH</latexit>
Gp
! = = TD (s)
D R=0 1 + G c Gp G1 H
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3
Multivariate Systems
Y1 Y2 Y1 Y2
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R1 R1 R2 R2
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G2
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G4 Y2
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16
Ali Dadgar – Department of Mechanical Engineering – Columbia University
First order systems
+ 1
<latexit sha1_base64="vFeI3NcjxU7dZN/olnemWKjKZ5s=">AAAB9XicbVBNS8NAEJ3Ur1q/qh69LBZBEEIiUj0WvHis0LSFNpbNdtMu3WzC7kYpIf/DiwdFvPpfvPlv3LY5aOuDgcd7M8zMCxLOlHacb6u0tr6xuVXeruzs7u0fVA+P2ipOJaEeiXksuwFWlDNBPc00p91EUhwFnHaCye3M7zxSqVgsWnqaUD/CI8FCRrA20kM/lJhkbp611IWbD6o1x3bmQKvELUgNCjQH1a/+MCZpRIUmHCvVc51E+xmWmhFO80o/VTTBZIJHtGeowBFVfja/OkdnRhmiMJamhEZz9fdEhiOlplFgOiOsx2rZm4n/eb1Uhzd+xkSSairIYlGYcqRjNIsADZmkRPOpIZhIZm5FZIxNENoEVTEhuMsvr5L2pe3W7fr9Va1hF3GU4QRO4RxcuIYG3EETPCAg4Rle4c16sl6sd+tj0Vqyiplj+APr8wcg8JI5</latexit>
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slope = 819
dt !t=0
!
1 →t/T !!
<latexit sha1_base64="urqQSgm0k01l+NtVGawpmRsS5ZM=">AAACF3icbZC7SgNBFIZnvcZ4W7W0GQyCTdbdIGojBGwsIyQqZGOYnZxNhsxemDkrhHXfwsZXsbFQxFY738ZJTOHth4GP/5zDmfMHqRQaXffDmpmdm19YLC2Vl1dW19btjc0LnWSKQ4snMlFXAdMgRQwtFCjhKlXAokDCZTA8Hdcvb0BpkcRNHKXQiVg/FqHgDI3VtR16Qqu+hBAd6oeK8dwr8mZB4Tqv4r4BX4n+AOltN8cTt+jaFddxJ6J/wZtChUzV6Nrvfi/hWQQxcsm0bntuip2cKRRcQlH2Mw0p40PWh7bBmEWgO/nkroLuGqdHw0SZFyOduN8nchZpPYoC0xkxHOjftbH5X62dYXjcyUWcZggx/1oUZpJiQsch0Z5QwFGODDCuhPkr5QNm0kETZdmE4P0++S9c1Bzv0Dk8P6jUa9M4SmSb7JA94pEjUidnpEFahJM78kCeyLN1bz1aL9brV+uMNZ3ZIj9kvX0CiNieSw==</latexit>
=→ 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>
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18
Ali Dadgar – Department of Mechanical Engineering – Columbia University
• Unit ramp response of First-Order Systems
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C(s) = →1
Ts + 1
1 1
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=
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>
1 →t/T
<latexit sha1_base64="YO7Y+RC3FF0Mqi+k/pS6e3HLE5Q=">AAACBXicbVC7SgNBFJ31GeNr1VKLwSDEwrgbJNoIARvLCHlBsobZyWwyZPbBzF0hLNvY+Cs2ForY+g92/o2TZAtNPHDhcM693HuPGwmuwLK+jaXlldW19dxGfnNre2fX3NtvqjCWlDVoKELZdoliggesARwEa0eSEd8VrOWObiZ+64FJxcOgDuOIOT4ZBNzjlICWeuYRLcIpvsZdTxKKEztN6ilm98kZnNfTnlmwStYUeJHYGSmgDLWe+dXthzT2WQBUEKU6thWBkxAJnAqW5ruxYhGhIzJgHU0D4jPlJNMvUnyilT72QqkrADxVf08kxFdq7Lu60ycwVPPeRPzP68TgXTkJD6IYWEBni7xYYAjxJBLc55JREGNNCJVc34rpkOg8QAeX1yHY8y8vkma5ZFdKlbuLQrWcxZFDh+gYFZGNLlEV3aIaaiCKHtEzekVvxpPxYrwbH7PWJSObOUB/YHz+APNalu8=</latexit>
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>
+ 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>
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>
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)
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 -
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>
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>
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
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>
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
r 1
tanwater
gun
tr
[Link] ET
ttg fff
28
Ali Dadgar – Department of Mechanical Engineering – Columbia University
0
Wdsinwd4
fEoswato
Sin watp
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>
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>
O
Ali Dadgar – Department of Mechanical Engineering – Columbia University
31
Example
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
FÉ
+
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)
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>
=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>
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 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>
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:
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>
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<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 …
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<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>
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>
41
Ali Dadgar
Example:
If in a row:
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>
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
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Ali Dadgar