By Farid Golnaraghi, Benjamin C. Kuo

Automated keep watch over platforms presents engineers with a clean new controls e-book that areas distinct emphasis on mechatronics. It follows a innovative process by means of really together with a actual lab. furthermore, readers will locate authoritative insurance of contemporary layout instruments and examples. present mechatronics purposes construct motivation to profit the fabric. wide use of digital lab software program is additionally built-in in the course of the chapters. Engineers will achieve a powerful comprehend of keep an eye on structures with assistance from glossy examples and workouts.

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1*3 + 1 ) ; bodeCG); 42 Chapter 2. Mathematical Foundation Bode Diagram 40 r i—i i i i -i 1 1 1—i—i—r i i L _i i i i 20 ! -20 - _i -40 0 i l u -45 /—s Cfl ID T3.

2-17 are also inverted. Toolbox 2-2-3 The Bode plot for Fig. 05 and co—l, using the MATLAB "bode" function, is obtained by the following sequence of MATLAB functions. Approach 1 Approach 2 num = [ 1 ] ; den= [ 1 . 1*3 + 1 ) ; bodeCG); 42 Chapter 2. Mathematical Foundation Bode Diagram 40 r i—i i i i -i 1 1 1—i—i—r i i L _i i i i 20 ! -20 - _i -40 0 i l u -45 /—s Cfl ID T3.

1. The behavior of the magnitude and phase of G( jco) at co = 0 and co — co. 2. The intersections of the polar plot with the real and imaginary axes, and the values of co at these intersections j Im G TJT, (T2 < 7",) Figure 2-10 Polar plots of G( jco) = (1 + Ja>T2) {l+jo>Ti)' Re G 2-2 Frequency-Domain Plots 29 Toolbox 2-2-1 The Nyquist diagram for Eq. (2-44) for two cases is obtained by the following sequence of MATLAB functions: Tl = 10; T2 = 5; nural = [T2 1] ; denl = [Tl 1] ; Gl=tf(numl,denl); nyquist(Gl); hold on; num2 = [Tl 1] ; den2 = [T2 1] ; G2 = tf (num2,den2) ; nyquist (G2) ; title ( ' Nyquist diagram of Gl and G2' ) Note: The "nyquist" function provides a complete polar diagram, where co is varying from — oo to -t-oc.