Introduction to electronic control engineering

acceleration actual value adjustment amplitude ARAs armature armature current behaviour block diagram capacitance capacitor circuit of Fig closed loop command variable constant td controlled system controlled variable curve d.c. machine damping factor decay time constant differentiating element diode disturbance variable drive equivalent time constant error signal feedback circuit FR(s frequency response impedance input variable xe input voltage integrating controller integrating element integration time constant inverting amplifier large delay linear optimum modulus optimum negative non-inverting amplifier obtained offset error open loop operational amplifier optimization formula optimized control loop output variable xa output voltage overdriven overshoot PD element phase advance PI controller potentiometer proportional amplification proportional controller push-pull output ratio rectifier required value smoothing reset time constant resistance second order delay Series connection shown in Fig step change step function step response symmetrical optimum symmetrically optimized control system element torque transfer function transient function transient response Vamax zero