Judging process variations from Judging Process Variations from Open Loop Data Open Loop Data Open loo p chang es drast ically but little change ose (s+1)(s+a Judging process variations from Judging Process Variations from Open Loop Data Open loop dat a Open loo p res po nse changes little but drastic change in closed loop Go(s 400(1-s7) (s+1)(s+20(1+Ts) Frequency frad/s Frequency lrad C K J. Ast ro m and B.WittenmarkJudging Process Variations from Open Loop Data Open loop changes drastically but little change in closed loop. G0(s) = 1 (s + 1)(s + a) 0 100 200 300 0 100 200 300 0 5 10 0.0 0.5 1.0 Time Time Judging Process Variations from Open Loop Data 10−3 10−2 10−1 100 101 10−2 100 102 104 Magnitude 10−3 10−2 10−1 100 101 −200 −100 0 Frequency [rad/s] Phase [deg] 10−3 10−2 10−1 100 101 10−1 100 101 Magnitude 10−3 10−2 10−1 100 101 −200 −100 0 Frequency [rad/s] Phase [deg] Judging Process Variations from Open Loop Data Open loop response changes little but drastic change in closed loop. G0(s) = 400(1 ￾ sT ) (s + 1)(s + 20)(1 + T s) 012345 0.0 0.5 1.0 0 0.2 0.4 0.6 0.8 1 0 1 Time Time Judging Process Variations from Open Loop Data 10−1 100 101 102 103 10−2 100 102 Magnitude 10−1 100 101 102 103 −400 −200 0 Frequency [rad/s] Phase [deg] 10−1 100 101 102 103 10−2 100 102 Magnitude 10−1 100 101 102 103 −400 −200 0 Frequency [rad/s] Phase [deg] c K. J. Åström and B. Wittenmark 3