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Edit File: controlDPV.svg
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<line x1="1.066667" y1="50.933333" x2="37.267677" y2="50.933333" /> <circle cx="51.466667" cy="50.933333" r="12" /> <line x1="63.466667" y1="50.933333" x2="101.866667" y2="50.933333" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="82.666667" y="48.266667"><tspan font-style="italic">e(s)</tspan></text> <polygon stroke-width="0" fill="black" points="130.666667,48.533333 140.266667,50.933333 130.666667,53.333333" /> <line x1="101.866667" y1="50.933333" x2="138.067677" y2="50.933333" /> <rect x="140.266667" y="38.933333" width="36" height="24" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="158.266667" y="55.773333" ><tspan font-style="italic">K</tspan><tspan font-size="70%" dy="0.66ex" dx="">P</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <polygon stroke-width="0" fill="black" points="193.066667,48.533333 202.666667,50.933333 193.066667,53.333333" /> <line x1="176.266667" y1="50.933333" x2="200.467677" y2="50.933333" /> <circle 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x="265.066667" y="26.933333" width="72" height="48" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="301.066667" y="55.773333"><tspan font-style="italic">G(s)</tspan></text> <polygon stroke-width="0" fill="black" points="365.866667,48.533333 375.466667,50.933333 365.866667,53.333333" /> <line x1="337.066667" y1="50.933333" x2="373.267677" y2="50.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="372.8" y="45.609963"><tspan font-style="italic">y(s)</tspan></text> <polyline points="356.266667,50.933333 356.266667,122.933333 51.466667,122.933333" /> <polygon stroke-width="0" fill="black" points="49.066667,72.533333 51.466667,62.933333 53.866667,72.533333" /> <line x1="51.466667" y1="122.933333" x2="51.466667" y2="65.132323" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="46.133333" y="70.44"><tspan font-style="italic">-</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="3.733333" y="141.92176" >(a) <tspan font-style="italic">PID</tspan> control</text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="15.733333" y="199.466667"><tspan font-style="italic">r</tspan></text> <polygon stroke-width="0" fill="black" points="41.866667,199.733333 51.466667,202.133333 41.866667,204.533333" /> <line x1="13.066667" y1="202.133333" x2="49.267677" y2="202.133333" /> <circle fill="rgb(153,153,153)" cx="61.066667" cy="202.133333" r="9.6" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="63.733333" y="224.08" > <tspan font-style="italic">-</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="51.466667" y="199.466667"><tspan font-style="italic">+</tspan></text> <rect fill="rgb(230,230,230)" stroke="none" x="99.466667" y="173.333333" width="297.6" height="115.2" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="102.133333" y="285.866667"><tspan font-style="italic">Plant</tspan></text> <polygon stroke-width="0" fill="black" points="99.466667,199.733333 109.066667,202.133333 99.466667,204.533333" /> <line x1="70.666667" y1="202.133333" x2="106.867677" y2="202.133333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="92.533333" y="199.466667"><tspan font-style="italic">u</tspan></text> <rect fill="rgb(153,153,153)" x="109.066667" y="182.933333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="123.466667" y="206.973333"><tspan font-style="italic">B</tspan></text> <polygon stroke-width="0" fill="black" points="166.666667,197.466667 176.266667,202.133333 166.666667,206.8" /> <line stroke-width="4" x1="137.866667" y1="202.133333" x2="171.692025" y2="202.133333" /> <circle fill="rgb(153,153,153)" cx="185.866667" cy="202.133333" r="9.6" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="188.533333" y="224.08" > <tspan font-style="italic">+</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="176.266667" y="196.8">+</text> <polygon stroke-width="0" fill="black" points="224.266667,197.466667 233.866667,202.133333 224.266667,206.8" /> <line stroke-width="4" x1="195.466667" y1="202.133333" x2="229.292025" y2="202.133333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="214.666667" y="197.64"><tspan font-style="bold">x</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="214.666667" y="190.133333">.</text> <rect fill="rgb(153,153,153)" x="233.866667" y="182.933333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="206.973333"><tspan font-style="italic">I/s</tspan></text> <polygon stroke-width="0" fill="black" points="349.066667,197.466667 358.666667,202.133333 349.066667,206.8" /> <line stroke-width="4" x1="262.666667" y1="202.133333" x2="354.092025" y2="202.133333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="310.666667" y="197.64"><tspan font-style="bold">x</tspan></text> <rect fill="rgb(153,153,153)" x="358.666667" y="182.933333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="373.066667" y="206.973333"><tspan font-style="italic">C</tspan></text> <line stroke-width="4" x1="387.466667" y1="202.133333" x2="425.866667" y2="202.133333" /> <polygon stroke-width="0" fill="black" points="454.666667,197.466667 464.266667,202.133333 454.666667,206.8" /> <line stroke-width="4" x1="425.866667" y1="202.133333" x2="459.692025" y2="202.133333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="445.066667" y="197.64"><tspan font-style="bold">y</tspan></text> <rect fill="rgb(153,153,153)" x="233.866667" y="240.533333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="264.573333"><tspan font-style="italic">A</tspan></text> <polygon stroke-width="0" fill="black" points="272.266667,264.4 262.666667,259.733333 272.266667,255.066667" /> <polyline stroke-width="4" points="267.241308,259.733333 301.066667,259.733333 301.066667,202.133333" /> <polygon stroke-width="0" fill="black" points="181.2,221.333333 185.866667,211.733333 190.533333,221.333333" /> <polyline stroke-width="4" points="233.866667,259.733333 185.866667,259.733333 185.866667,216.307975" /> <rect fill="rgb(153,153,153)" x="233.866667" y="298.133333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="322.173333"><tspan font-style="italic">K</tspan></text> <polygon stroke-width="0" fill="black" points="58.666667,221.333333 61.066667,211.733333 63.466667,221.333333" /> <polyline points="233.866667,317.333333 61.066667,317.333333 61.066667,213.932323" /> <rect fill="rgb(230,230,230)" stroke="none" x="41.866667" y="346.133333" width="412.8" height="172.8" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="44.533333" y="516.266667" ><tspan font-style="italic">Observer</tspan></text> <rect fill="rgb(153,153,153)" x="233.866667" y="355.733333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="379.773333"><tspan font-style="italic">I/s</tspan></text> <polygon stroke-width="0" fill="black" points="224.266667,370.266667 233.866667,374.933333 224.266667,379.6" /> <line stroke-width="4" x1="229.292025" y1="374.933333" x2="195.466667" y2="374.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="214.666667" y="370.44"><tspan font-style="bold">x</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="214.666667" y="370.44">ˆ</text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="214.666667" y="358.093333">.</text> <circle fill="rgb(153,153,153)" cx="185.866667" cy="374.933333" r="9.6" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="188.533333" y="396.88" > <tspan font-style="italic">+</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="176.266667" y="369.6"><tspan font-style="italic">+</tspan></text> <polygon stroke-width="0" fill="black" points="166.666667,370.266667 176.266667,374.933333 166.666667,379.6" /> <line stroke-width="4" x1="171.692025" y1="374.933333" x2="137.866667" y2="374.933333" /> <circle fill="rgb(153,153,153)" cx="128.266667" cy="374.933333" r="9.6" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="130.933333" y="396.88" > <tspan font-style="italic">+</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="118.666667" y="369.6"><tspan font-style="italic">+</tspan></text> <polygon stroke-width="0" fill="black" points="109.066667,370.266667 118.666667,374.933333 109.066667,379.6" /> <line stroke-width="4" x1="114.092025" y1="374.933333" x2="80.266667" y2="374.933333" /> <rect fill="rgb(153,153,153)" x="51.466667" y="355.733333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="65.866667" y="379.773333"><tspan font-style="italic">B</tspan></text> <polygon stroke-width="0" fill="black" points="41.866667,372.533333 51.466667,374.933333 41.866667,377.333333" /> <polyline points="80.266667,202.133333 80.266667,173.333333 3.466667,173.333333 3.466667,374.933333 49.267677,374.933333" /> <rect fill="rgb(153,153,153)" x="233.866667" y="413.333333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="248.266667" y="437.373333"><tspan font-style="italic">A</tspan></text> <line stroke-width="4" x1="262.666667" y1="374.933333" x2="301.066667" y2="374.933333" /> <polygon stroke-width="0" fill="black" points="272.266667,322 262.666667,317.333333 272.266667,312.666667" /> <polygon stroke-width="0" fill="black" points="272.266667,437.2 262.666667,432.533333 272.266667,427.866667" /> <polyline stroke-width="4" points="267.241308,317.333333 301.066667,317.333333 301.066667,432.533333 267.241308,432.533333" /> <polygon stroke-width="0" fill="black" points="181.2,394.133333 185.866667,384.533333 190.533333,394.133333" /> <polyline stroke-width="4" points="233.866667,432.533333 185.866667,432.533333 185.866667,389.107975" /> <rect fill="rgb(153,153,153)" x="358.666667" y="355.733333" width="28.8" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="373.066667" y="379.773333"><tspan font-style="italic">C</tspan></text> <polygon stroke-width="0" fill="black" points="416.266667,370.266667 425.866667,374.933333 416.266667,379.6" /> <line stroke-width="4" x1="387.466667" y1="374.933333" x2="421.292025" y2="374.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="406.666667" y="370.44"><tspan font-style="bold">y</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="406.666667" y="370.44">ˆ</text> <polygon stroke-width="0" fill="black" points="349.066667,370.266667 358.666667,374.933333 349.066667,379.6" /> <line stroke-width="4" x1="301.066667" y1="374.933333" x2="354.092025" y2="374.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="329.866667" y="370.44"><tspan font-style="italic">x</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="329.866667" y="370.44">ˆ</text> <circle fill="rgb(153,153,153)" cx="435.466667" cy="374.933333" r="9.6" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="438.133333" y="362.666667"><tspan font-style="italic">+</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="425.866667" y="369.6"><tspan font-style="italic">-</tspan></text> <polygon stroke-width="0" fill="black" points="440.133333,355.733333 435.466667,365.333333 430.8,355.733333" /> <line 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29.866667,560.933333" /> <line x1="1.066667" y1="558.533333" x2="37.267677" y2="558.533333" /> <circle cx="51.466667" cy="558.533333" r="12" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="end" x="48.8" y="582.88"><tspan font-style="italic">-</tspan></text> <polygon stroke-width="0" fill="black" points="49.066667,580.133333 51.466667,570.533333 53.866667,580.133333" /> <line x1="51.466667" y1="572.732323" x2="51.466667" y2="589.733333" /> <rect x="33.466667" y="589.733333" width="36" height="24" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="51.466667" y="606.573333"><tspan font-style="italic">K</tspan></text> <polygon stroke-width="0" fill="black" points="49.066667,623.333333 51.466667,613.733333 53.866667,623.333333" /> <line x1="51.466667" y1="615.932323" x2="51.466667" y2="632.933333" /> <line x1="51.466667" y1="632.933333" x2="89.866667" y2="632.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="70.666667" y="630.266667" ><tspan>ˆ</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan></text> <rect x="89.866667" y="602.933333" width="192" height="60" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="105.466933" y="636.466533" ><tspan dx="0.987654ex"> </tspan><tspan dy="-1.2ex" dx="0.493827ex"><tspan font-style="italic">d</tspan></tspan><tspan dy=" 2.6ex" dx="-1.48148ex"><tspan font-style="italic">dt</tspan></tspan><tspan dy="-1.4ex" dx="0ex"> </tspan></text> <line x1="106.693067" y1="632.933333" x2="119.599733" y2="632.933333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="122.2664" y="636.466533" ><tspan>ˆ</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan> <tspan font-style="italic">= (A-LC)</tspan> <tspan>ˆ</tspan><tspan dx="-0.9ex"><tspan font-style="bold">x</tspan></tspan> <tspan font-style="italic">+ Bu + L</tspan><tspan font-style="bold">y</tspan></text> <text font-size="11pt" 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2.6ex" dx="-1.48148ex"><tspan font-style="italic">dt</tspan></tspan><tspan dy="-1.4ex" dx="0ex"> </tspan></text> <line x1="347.893067" y1="549.062733" x2="360.799733" y2="549.062733" /> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="363.4664" y="552.595933" ><tspan font-style="bold">x</tspan> <tspan font-style="italic">= A</tspan> <tspan font-style="bold">x</tspan> <tspan font-style="italic">+ Bu</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="366.133067" y="571.955933" ><tspan font-style="bold">y</tspan> <tspan font-style="italic">= C</tspan> <tspan font-style="bold">x</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" text-anchor="start" x="342.133333" y="585.866667"><tspan font-style="italic">Plant</tspan></text> <polygon stroke-width="0" fill="black" points="476.266667,556.133333 485.866667,558.533333 476.266667,560.933333" /> <line x1="447.466667" y1="558.533333" 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dx="-0.5ex"> </tspan></tspan></text> <circle cx="51.466667" cy="768.533333" r="12" /> <line x1="42.981385" y1="760.048052" x2="59.951948" y2="777.018615" /> <line x1="42.981385" y1="777.018615" x2="59.951948" y2="760.048052" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="51.466667" y="766.173333"><tspan font-style="italic"></tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="51.466667" y="780.573333"><tspan font-style="italic">-</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="58.666667" y="773.373333"><tspan font-style="italic"></tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="44.266667" y="773.373333"><tspan font-style="italic">+</tspan></text> <polygon stroke-width="0" fill="black" points="73.066667,766.133333 82.666667,768.533333 73.066667,770.933333" /> <line x1="63.466667" y1="768.533333" x2="80.467677" y2="768.533333" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="71.967172" y="765.866667">ε</text> <rect x="82.666667" y="749.333333" width="38.4" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="101.866667" y="773.373333" ><tspan font-style="italic">H</tspan><tspan font-size="70%" dy="0.66ex" dx="">1</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <polygon stroke-width="0" fill="black" points="130.666667,766.133333 140.266667,768.533333 130.666667,770.933333" /> <line x1="121.066667" y1="768.533333" x2="138.067677" y2="768.533333" /> <rect x="140.266667" y="749.333333" width="38.4" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="159.466667" y="773.373333" ><tspan font-style="italic">H</tspan><tspan font-size="70%" dy="0.66ex" dx="">2</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <polygon stroke-width="0" fill="black" points="188.266667,766.133333 197.866667,768.533333 188.266667,770.933333" /> <line x1="178.666667" y1="768.533333" x2="195.667677" y2="768.533333" /> <circle cx="209.866667" cy="768.533333" r="12" /> <line x1="201.381385" y1="760.048052" x2="218.351948" y2="777.018615" /> <line x1="201.381385" y1="777.018615" x2="218.351948" y2="760.048052" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="209.866667" y="766.173333"><tspan font-style="italic">-</tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="209.866667" y="780.573333"><tspan font-style="italic"></tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="217.066667" y="773.373333"><tspan font-style="italic"></tspan></text> <text font-size="11pt" stroke-width="0.266667" fill="black" x="202.666667" y="773.373333"><tspan font-style="italic">+</tspan></text> <polygon stroke-width="0" fill="black" points="231.466667,766.133333 241.066667,768.533333 231.466667,770.933333" /> <line x1="221.866667" y1="768.533333" x2="238.867677" y2="768.533333" /> <rect x="241.066667" y="749.333333" width="38.4" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="260.266667" y="773.373333" ><tspan font-style="italic">H</tspan><tspan font-size="70%" dy="0.66ex" dx="">3</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <polygon stroke-width="0" fill="black" points="289.066667,766.133333 298.666667,768.533333 289.066667,770.933333" /> <line x1="279.466667" y1="768.533333" x2="296.467677" y2="768.533333" /> <rect x="298.666667" y="749.333333" width="38.4" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="317.866667" y="773.373333" ><tspan font-style="italic">H</tspan><tspan font-size="70%" dy="0.66ex" dx="">4</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <line x1="337.066667" y1="768.533333" x2="356.266667" y2="768.533333" /> <polygon stroke-width="0" fill="black" points="365.866667,766.133333 375.466667,768.533333 365.866667,770.933333" /> <line x1="356.266667" y1="768.533333" x2="373.267677" y2="768.533333" /> <text font-size="11pt" stroke-width="0.266667" fill="black" x="375.466667" y="765.866667" ><tspan font-style="italic">S</tspan><tspan font-size="70%" dy="0.66ex" dx="">1</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <rect x="269.866667" y="691.733333" width="38.4" height="38.4" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="289.066667" y="715.773333" ><tspan font-style="italic">R</tspan><tspan font-size="70%" dy="0.66ex" dx="">1</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan></text> <polygon stroke-width="0" fill="black" points="317.866667,713.333333 308.266667,710.933333 317.866667,708.533333" /> <polyline points="356.266667,768.533333 356.266667,710.933333 310.465656,710.933333" /> <polygon stroke-width="0" fill="black" points="212.266667,746.933333 209.866667,756.533333 207.466667,746.933333" /> <polyline points="269.866667,710.933333 209.866667,710.933333 209.866667,754.334344" /> <text 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165.066667,966.533333" /> <line x1="167.466667" y1="928.133333" x2="167.466667" y2="973.934344" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" text-anchor="start" x="170.133333" y="955.873838" ><tspan font-style="italic">y</tspan><tspan font-size="70%" dy="0.66ex" dx="">m</tspan><tspan font-size="70%" dy="-0.66ex" dx="-0.5ex"> </tspan>[ref]</text> <circle cx="167.466667" cy="988.133333" r="12" /> <polygon stroke-width="0" fill="black" points="208.266667,985.733333 217.866667,988.133333 208.266667,990.533333" /> <line x1="179.466667" y1="988.133333" x2="215.667677" y2="988.133333" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="197.567172" y="985.466667"><tspan font-style="italic">e</tspan></text> <rect x="217.866667" y="970.133333" width="64.8" height="36" /> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="250.266667" y="985.64">stabilizer</text> <text font-size="11pt" stroke-width="0.2pt" fill="black" x="250.266667" y="1000.306667"><tspan 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