Advanced control engineering (S.R. Burns, 2001)

$

10

0

–10

–20

|G(jω)| –30

(dB)

–40

–50

–60

–70

–80

100

101

102

10–1

Frequency

(rad/s)

40

30

20

Gain

(dB) 10

WT–1(jω)

WS–1(jω)

0

–10

–20

–30

–40

10–1

101

102

10–3

10–2

100

103

Frequency (rad/s)

–2

–4

|Ty1u1(jω)|

(dB)

–6

–8

–10

–12

–14

–16

–18

100

10–3

10–2

10–1

101

102

103

Frequency

(rad/s)

$

40

30

20

|C(jω)|

(dB) 10

0

–10

–20

–30

10–3

10–2

10–1

100

101

102

103

Frequency

(rad/s)

$

$

$

$

$

$

$

$

$

$

#

$

#

#

$

$

$

$

$

$

#

#

$

$

#

#

$

#

##

$

Intelligent Control System

Cognition

Actuation

Subsystem

Subsystem