|?
falare
ae la eee PPE ff
me) LD I I YP Ax
calls | control Jpop = tes Z
t=]
the deneminghs et overall het bans fer, ene” Ae
WGN
wad _< ot ph Riches th fine ean
promipaReemibmendush of Stravstes bend? i
Cs ee oe
3 Numero frauifer funchny or foward
| vk” oot part ar bad st sontwlled op “a
a || teamsfer Fane eeeN Ye ae a
“| uot i i =
Af er eae a prp)emc — —
il p1 pldicben ce. Does net change
toile Hee set pant uncle
tt charye y_ls)z0
eet point
ea eN/selio yey]———————_
okena
Wee 7 ote
4 =3
a
“
= ai \evmevai)
Son troller x,
i — ———,
ed fepertiona) - inkear a) derivative,
I _teertnal_ton tle
i a? controller
a Adtuahng ¢(8)) ak Wenns et)
=a ft) = pe) pe,
TF ke = gain te, obra] en
&
= controller bay a ubelel signal
he. its edhuahng
j
1 Vv
senah when enor @ =o)
fom es) 4
a
fryoNoncl Band (6 S007 be
S
41 presence, + ce sie ee
Je | Wiipake ste ere TA morn eclinte faty
| 2 applies tol_ach’on proportional =a fae |
fossa sara EAApera ts PE eee cere
% For _stivred -banke heater as
STGS): =e EEC
Stas tar
.
al fe i
Hee, If Ty is contolled the — ‘Zz
Tp = disturbance.) Ty = bead. r
mt)
BRN
:
Re a a el(once No,
I eI 77
J i.
Hl Measuring dewices — FE ma
| gd
# <7. ee ‘ Fee pro cess
I
F)__Eetect 4 proportenal control m werpene
U
| for siplivity | Gun) = 1 ¢ GM) =
| Pr — Ge = Ke
Vena
I y yo) =
meee) tc)
at If Gpk. 3|
Be Bren (oop
—~ Treagense
_4—
Both the ro lope ve cimilar
[ os
TH tonclusions a bert ns 8
Lilive stark with 1 oem recs etter apply in.
|| the conboller ite : eesti:
——_1| ‘Time constant uc a o<
para emit a ise. connect’
ad
a _Peondzoller. ;
$] Geine ve_decreas
7
buk we have
a" — =
2 en
Se Ea
{= te a.
y Sth oe iz
fe de ae z 2
4 | a
Cy s
f I ote a =
s [ ‘>
a
ak,—
ecleielelalaoelaalal
l
3.
4
att
Eprect [enbles ee
at hes Ponse:
converts 34+
adey tyole
PO) the 2 eye,
tern,
ot) =r
ES Ai, =
aso > ie =f [ee
mee TS Ca te TAB:
ert, we i
aT a damped, underdam
an overdam € werpance:
Cordusions » ;
Integral contro! achew Increases arder oY oloced oo,
response |
Increases decreases CT tre. | farter verponse_
pecreasing _T, Jenememmaemnpe: sevecillakens wesfont =
Sg 2. yesp once #
te trolloa
[yo ee yyo + _& %
| ge) = Grape Pes
| 14 Gp Gp eG iia
i i ee
te simply tre onabyeis Ss
|. det \Cr GORE ts) = ie
ae
al Atco, _¢7_ cs) lem ee
Gplt) = kp Ba a ee.
stig % ptt.
for
Gu) =Ga
eas = %s kee J |
sy 2
4 as pr ri
4 = &2a/m
% | test Tse 5
a a
Se \
A [osg ts). es) Le a
Ee
~~ TSC ee + bebe Ng ys (it tke | +1 iS
| ¥p Fou ep ke
~ Whee ats Is + kp KaSpiliiee E
— an > a
—F a hax a
ges Soe
[eget =/i4 ee Fa y. St Ee
j Cs i 2
pee L.
Conclusions? g
—+_1}| derivahive. conteel