Version 4 SHEET 1 1740 1076 WIRE -160 -320 -176 -320 WIRE 80 -304 48 -304 WIRE 304 -304 272 -304 WIRE 432 -304 400 -304 WIRE 656 -304 624 -304 WIRE 784 -304 752 -304 WIRE 1008 -304 976 -304 WIRE -176 -288 -176 -320 WIRE -176 -192 -176 -208 WIRE 80 -96 48 -96 WIRE 304 -96 272 -96 WIRE 432 -96 400 -96 WIRE 656 -96 624 -96 WIRE 784 -96 752 -96 WIRE 1008 -96 976 -96 WIRE -160 -80 -176 -80 WIRE -176 -48 -176 -80 WIRE -176 48 -176 32 WIRE 80 112 48 112 WIRE 304 112 272 112 WIRE 432 112 400 112 WIRE 656 112 624 112 WIRE -176 128 -192 128 WIRE -64 128 -80 128 WIRE -128 176 -192 176 WIRE -128 240 -192 240 WIRE -176 288 -192 288 WIRE -64 288 -80 288 WIRE 784 288 768 288 WIRE 80 320 48 320 WIRE 304 320 272 320 WIRE 416 320 400 320 WIRE 432 320 416 320 WIRE 656 320 624 320 WIRE 768 320 768 288 WIRE 768 320 752 320 WIRE 784 320 768 320 WIRE 1008 320 976 320 WIRE 416 352 416 320 WIRE 432 352 416 352 WIRE 768 352 768 320 WIRE 784 352 768 352 WIRE -176 384 -192 384 WIRE -64 384 -80 384 WIRE -128 432 -192 432 WIRE -128 496 -192 496 WIRE -176 544 -192 544 WIRE -64 544 -80 544 WIRE 80 544 48 544 WIRE 304 544 272 544 WIRE 432 544 400 544 WIRE 656 544 624 544 WIRE 784 544 752 544 WIRE 1008 544 976 544 WIRE 80 752 48 752 WIRE 304 752 272 752 WIRE 432 752 400 752 WIRE 656 752 624 752 WIRE 80 960 48 960 WIRE 304 960 272 960 WIRE 432 960 400 960 WIRE 656 960 624 960 WIRE 768 960 736 960 WIRE 992 960 960 960 FLAG -176 -192 0 FLAG 304 -96 d FLAG 400 -96 in FLAG -160 -320 in FLAG 656 -96 dt1 FLAG 48 -304 in FLAG 304 -304 ap1 FLAG -176 48 0 FLAG -160 -80 1 FLAG -192 432 1 FLAG -192 176 1 FLAG -192 384 in FLAG -192 128 in FLAG 48 112 in FLAG 304 112 i FLAG 400 112 in FLAG 656 112 it1 FLAG 48 320 in FLAG 304 320 p FLAG 752 -96 in FLAG 1008 -96 pd FLAG 48 544 in FLAG 304 544 pi FLAG 400 544 in FLAG 656 544 pid FLAG 752 544 in FLAG 1008 544 pidt1 FLAG 48 752 in FLAG 304 752 pdt1 FLAG 400 752 in FLAG 656 752 ppt1 FLAG 48 960 in FLAG 304 960 pt1 FLAG 400 960 in FLAG 656 960 pt2 FLAG 736 960 in FLAG 992 960 pt2s FLAG 752 -304 in FLAG 1008 -304 tt1 FLAG 752 320 in FLAG 1008 320 p3 FLAG 656 320 p2 FLAG 400 320 in FLAG -192 288 in FLAG -192 544 in FLAG -192 496 1 FLAG -192 240 1 FLAG 400 -304 in FLAG 656 -304 ap2 FLAG 48 -96 in SYMBOL voltage -176 -304 R0 WINDOW 123 24 132 Left 0 WINDOW 39 0 0 Left 0 SYMATTR Value2 AC 1 SYMATTR InstName V1 SYMATTR Value PWL(0 0 1m 10) SYMBOL voltage -176 -64 R0 WINDOW 123 0 0 Left 0 WINDOW 39 0 0 Left 0 WINDOW 0 20 16 Left 0 SYMATTR InstName V2 SYMATTR Value 1 SYMBOL ct___ap1 176 -304 R0 SYMATTR InstName U1 SYMATTR Value KP=2 T=.1 SYMBOL ct___ap2 528 -304 R0 SYMATTR InstName U2 SYMATTR Value KP=2 D=1 w0=10 SYMBOL ct___tt 880 -304 R0 SYMATTR InstName U3 SYMATTR Value Kp=.8 Tt=.2 SYMBOL ct___d 176 -96 R0 SYMATTR InstName U4 SYMATTR Value Kd=1m SYMBOL ct___dt1 528 -96 R0 SYMATTR InstName U5 SYMATTR Value Kd=0.1 T1=0.1 SYMBOL ct___pd 880 -96 R0 SYMATTR InstName U6 SYMATTR Value Kp=1 Tv=.01 SYMBOL ct___i 176 112 R0 SYMATTR InstName U7 SYMBOL ct___it1 528 112 R0 SYMATTR InstName U8 SYMATTR Value KP=2 Ti=.1 T1=1 SYMBOL ct___p 176 320 R0 SYMATTR InstName U9 SYMATTR Value Kp=0.5 SYMBOL ct___p2 528 320 R0 SYMATTR InstName U10 SYMBOL ct___p3 880 320 R0 SYMATTR InstName U11 SYMBOL ct___pi 176 544 R0 SYMATTR InstName U12 SYMBOL ct___pid 528 544 R0 SYMATTR InstName U13 SYMATTR Value Kr=0.5 Tn=1 Tv=1m SYMBOL ct___pidt1 880 544 R0 SYMATTR InstName U14 SYMATTR Value Kr=0.1 Tn=.2 Tv=1 T1=0.1 SYMBOL ct___pdt1 176 752 R0 SYMATTR InstName U15 SYMATTR Value Kp=.5 Tv=.2 T1=.1 SYMBOL ct___ppt1 528 752 R0 SYMATTR InstName U16 SYMATTR Value Kp=1 Tv=0.2 T1=0.5 SYMBOL ct___pt1 176 960 R0 SYMATTR InstName U17 SYMATTR Value Kp=2 T1=.1 SYMBOL ct___pt2 528 960 R0 SYMATTR InstName U18 SYMATTR Value Kp=2 T1=.1 T2=.1 SYMBOL ct___pt2s 864 960 R0 SYMATTR InstName U19 SYMATTR Value Kp=2 D=0.5 w0=10 SYMBOL ct___sub -128 128 R0 SYMATTR InstName U20 SYMBOL ct___sub1 -128 288 R0 SYMATTR InstName U21 SYMBOL ct___add -128 384 R0 SYMATTR InstName U22 SYMBOL ct___add1 -128 544 R0 SYMATTR InstName U23 TEXT -184 -408 Left 0 !.tran 1 TEXT -184 -472 Left 0 ;.ac list {w/(2*pi)}\n.step dec param w 1m 1k 100 TEXT 264 -472 Left 0 !.include control_theory1.lib