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Transcript of Chapter 3: Modeling in the Time Domain 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems...
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain1
Chapter 3
Modeling in the Time Domain
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain2
Figure 3.1RL network
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain3
Figure 3.2RLC network
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain4
Figure 3.3Graphic representationof state spaceand a state vector
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain5
Figure 3.4Block diagram of amass and damper
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain6
Figure 3.5Electrical network forrepresentation in statespace
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain7
Figure 3.6Electrical network forExample 3.2
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain8
Figure 3.7Translationalmechanical system
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain9
Figure 3.8Electric circuitfor Skill-AssessmentExercise 3.1
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain10
Figure 3.9Translationalmechanical systemfor Skill-AssessmentExercise 3.2
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain11
Figure 3.10a. Transfer function;b. equivalentblock diagram showingphase-variables.Note: y(t) = c(t)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain12
Figure 3.11Decomposing atransfer function
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain13
Figure 3.12a. Transfer function;b. decomposedtransfer function;c. equivalent block diagram. Note:y(t) = c(t)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain14
Figure 3.13Walking robots,such as Hannibalshown here, canbe used to explore hostile environments andrough terrain, such as that foundon other planets or insidevolcanoes.
© Bruce Frisch/S.S./Photo Researchers
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain15
Figure 3.14a. Simple pendulum;b. force componentsof Mg;c. free-body diagram
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain16
Figure 3.15Nonlinear translationalmechanical systemfor Skill-AssessmentExercise 3.5
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain17
Figure 3.16Pharmaceutical drug-levelconcentrations in a human
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain18
Figure 3.17Aquifer system model
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain19
Figure P3.1
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain20
Figure P3.2
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain21
Figure P3.3
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain22
Figure P3.4
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain23
Figure P3.5
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain24
Figure P3.6
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain25
Figure P3.7
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain26
Figure P3.8
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain27
Figure P3.9
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain28
Figure P3.10 Gyro system
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain29
Figure P3.11
Missile
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain30
Figure P3.12 Motor and load
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain31
Figure P3.13 Nonlinear mechanicalsystem
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain32
Figure P3.14a. Robot withtelevision imagingsystem(©1992 IEEE);b. vector diagramshowing conceptbehind image-basedhoming (©1992 IEEE);c. heading controlsystem
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 3: Modeling in the Time Domain33
Figure P3.15a. F4-E with canards(© 1992 AIAA);b. open-loop flightcontrol system(© 1992 AIAA)