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Disturbance Rejection

Disturbance Rejection. Disturbances only mentioned on page 3 of Ogata. Disturbance Rejection. R(s)=0. N(s)=0. Red is input signal Blue is specified hardware Green is unspecified hardware. When will A be close to zero? When will A be exactly zero? What does this mean for the hardware?.

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Disturbance Rejection

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  1. Disturbance Rejection Disturbances only mentioned on page 3 of Ogata Disturbance Rejection

  2. Disturbance Rejection R(s)=0 N(s)=0 Disturbance Rejection

  3. Red is input signal Blue is specified hardware Green is unspecified hardware When will A be close to zero? When will A be exactly zero? What does this mean for the hardware? Why? Disturbance Rejection Homework 1 and 2 are now assigned. Disturbance Rejection

  4. Final Value Theorem • We have been performing a particular computation over-and-over again. Assume that Y(s) has • no poles in the RHP, and • has no complex poles on the imaginary axis, except for • perhaps a simple pole at the origin, then This is called the Final Value Theorem. See page 233 of FC&N See pp. 76 of DS&W See page19 of FE Reference, 2nd to last entry of table Disturbance Rejection

  5. Proof of FVT Assumptions as on previous slide. End of Proof. Notice the similarity in the work we have done several time. Many (most?) Theorems come from such observations. Notice that if Y(s) does not have a pole at s=0, then A evaluates to 0. Disturbance Rejection

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