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Chapter 4. Time Response. Figure 4.1 a. System showing input and output; b. pole-zero plot of the system; c. evolution of a system response. Follow blue arrows to see the evolution of the response component generated by the pole or zero.
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Chapter 4 Time Response ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.1a. System showinginput and output;b. pole-zero plotof the system;c. evolution of asystem response.Follow blue arrowsto see the evolutionof the responsecomponent generatedby the pole or zero. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.2Effect of a real-axispole upon transientresponse ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.3System forExample 4.1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.4a. First-order system;b. pole plot ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.5First-order systemresponse to a unitstep ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.6Laboratory resultsof a system stepresponse test ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.7Second-ordersystems, pole plots,and stepresponses ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.8Second-orderstep response componentsgenerated bycomplex poles ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.9System forExample 4.2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.10Step responsesfor second-ordersystemdamping cases ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.11Second-orderresponse as a function of damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.12Systems forExample 4.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.13Second-orderunderdampedresponses fordamping ratio values ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.14Second-orderunderdampedresponsespecifications ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.15Percentovershoot vs.damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.16Normalized risetime vs. dampingratio for asecond-orderunderdampedresponse ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.17Pole plot for anunderdamped second-ordersystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.18Lines of constantpeak time,Tp , settlingtime,Ts , and percentovershoot, %OSNote: Ts2 < Ts1 ;Tp2< Tp1; %OS1 <%OS2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.19Step responsesof second-orderunderdamped systemsas poles move:a. with constant real part;b. with constant imaginary part;c. with constant damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.20Pole plot forExample 4.6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.21Rotationalmechanical system for Example 4.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.22The CybermotionSR3 security roboton patrol. Therobot navigates byultrasound and pathprograms transmittedfrom a computer,eliminating the needfor guide strips onthe floor. It has videocapabilities as well astemperature, humidity,fire, intrusion, and gassensors. Courtesy of Cybermotion, Inc. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.23Component responses of a three-pole system:a. pole plot;b. componentresponses: nondominant pole is neardominant second-order pair (Case I), far from the pair (Case II), andat infinity (Case III) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.24Step responsesof system T1(s),system T2(s), andsystem T3(s) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.25Effect of addinga zero to a two-pole system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.26Step responseof anonminimum-phase system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.27Nonminimum-phaseelectrical circuit ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.28Step response of the nonminimum-phasenetwork of Figure 4.27 (c(t)) and normalized step response of anequivalent networkwithout the zero(-10co(t)) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.29a. Effect of amplifiersaturation on load angular velocityresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.30a. Effect ofdeadzone onload angulardisplacementresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.31a. Effect of backlashon load angulardisplacementresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.32Antenna azimuthposition controlsystem for angularvelocity:a. forward path;b. equivalentforward path ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.33UnmannedFree-SwimmingSubmersible(UFSS) vehicle Courtesy of Naval Research Laboratory. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.34Pitch control loop forthe UFSS vehicle ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.35Negative stepresponse of pitch control for UFSS vehicle ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure 4.36A ship at sea,showing roll axis ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.3 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.9(figure continues) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.9 (continued) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.10Steps in determiningthe transfer functionrelating output physicalresponse to the inputvisual command ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.11Vacuum robot liftstwo bags of salt Courtesy of Pacific Robotics, Inc. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
Figure P4.12 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e
