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

$

$

$

xo(t)

Be

–ζωnt

(with reference to final value)

Overshoot

+

2 or 5% of B

–

B

Rise

t

Time tr

Settling Time ts

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# ! # "

$

# #

$

# #

$

# #

θi (t)

K

θo(t)

I

C

$

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$

$

$

$

$

# $

$

#

Forward Path

Summing

point

Take-off

R(s)

+

E(s)

point

C(s)

G(s)

–

B(s)

$

#

First Minor Loop

Cascade

R(s) +

+

+

C(s)

–

G1

G2

G3

–

–

H3

H4

H5

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#

$

#

#

#

$

# #

$

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Cascade

Second Minor Loop

R(s)

+

+

C(s)

G2G3

G1

1 + G3H3

–

–

R(s) +

G1G2G3

C(s)

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