Page 362 - Modern Control Systems

336 Chapter 5 The Performance of Feedback Control Systems

Normalized time
(a)

FIGURE 5.30
Step responses of a
normalized transfer
function using
optimum
coefficients for
(a) ISE, (b) IAE, and
(c) ITAE. The 10
response is for Normalized time
normalized time,
u) nt. (b)

foreground camera to control the movement of the background camera. The block
diagram of the background camera system is shown in Figure 5.31(b) for one axis of
movement of the background camera. The closed-loop transfer function is
,, 2
K„K :
T(s) = (5.48)
S? + 2 ^ 0 . 9 2 + wfty + K aK„fljQ