Welcome back. We're here in the studio again at Davis Media Access and we're talking today with members of board members of the YOLO Interfaith Immigration Network, also known as YIN. My name is Autumn Lab A. Renaud. I'm your host and to check out this show and other shows and are in the studio archive, give a click on DCTV.Davismedia.org or search for Davis Media Access on YouTube. And I want to welcome Ramon Urbano, who's a past board president of YIN and still actively involved, and Sam Loomis, who is a new board member and chair of the upcoming fundraising event April 10th, and we'll talk about that in just a few minutes. So welcome to you both. You bet. So YIN was formed in 2008, correct? Okay, so immigration is a hot and highly divisive topic in our nation, unfortunately, and I see YIN as doing work to bring people together and to really help people out. An organization that I think is rooted in compassion. So tell us a little bit about how and why you came together in 2008 and then let's talk about some of the work you're continuing to do today. Sure. Yeah, actually it was started in 2008. We still have some of the folks that started YIN on our board, honorary board. I discovered them maybe about six years ago. I retired, came back to Woodland, and I wanted to help people that look like me. And so I just by chance saw this in the newspaper and I joined them. I think it's all said in our mission statement, which we try to keep very simple. Our mission is, you know, to help immigrants in Yolo County. And we're a group of people, actually. Although interfaith is in that word, it's not a church kind of folk. We just have people from different denominations in our group. And I think what started it, it was just a passion for helping people who have no voice. At that time, it wasn't as bad as it is now. It was just, you know, we had farm workers. We had all kinds of people that were here. But now, of course, the dynamic has changed and certainly much more of what we need to be doing. Sure. So anyway, my passion was doing that and I wound up with some really fantastic people who have a passion for this kind of work, who have done other things. They do many other things also in the community, but their passion is this and they're willing to contribute and to help connect with some of the groups that they work with. So it makes it a pretty powerful kind of small, but pretty potent group. Right. Well, let's talk about some of the current projects that Yen is working on. And Sam, please feel free to jump in on this, too. I would say the traditional ones is that we do give enrichment programs to the migrant centers in Yolo County. That's in Madison and in Davis. We also give a little bit of help to Dixon, but that's in Solano, so we don't get too involved with them. We also visit the OR kids that are at Juvenile Hall. That's the Office of Refugee Resettlement. They have them detained there or locked up, really, is what it is. And so some of our group go every Monday to talk to the kids, to play games. We have music brought in for them. So that's another big thing, which has recently been quite controversial. And I really, I think that we always try to push forward that we certainly do not like to see these children locked up, certainly. But having them here, at least we can have oversight and watch them and help them in whatever we can, they do get psychiatric help. They do get classes by the Yolo County Education. So those are the couple of things that are traditional. The other one traditional is our DACA program, Deferred Action for Childhood Arrivals. And that is that we give money for them to apply for those, for that status, which is really having a difficult time. It's expensive, right? 495 dollars a piece. And so what we do is we work, and I should have said also that we work with many other agencies and departments. We work with the UCD Immigration Law Clinic. We work with the UCD AB540, Empower Yolo, Catholic Charities, the Catholic Church in Woodland. And so through them, we get the referrals because we do not want to be vetting these students basically. Plus, it's very important that it's done right, because if we do it wrong, it could come back in their face.  And that check is made to Homeland Security, so there is no other people involved. It goes through Homeland Security. We also give grocery certificates to students and those who need, you know, some help in that regard. Lately, because of the DACA interest going down, we have gone to other avenues. And a couple of novel ones, but I'll start with some that come up from time to time, and that is we're trying to help people to improve their immigration status. So sometimes we need to help them, give them money. Let me interrupt. What does that mean, improve one's immigration status? Well, for example, there's some people who have all the documents, but who have not applied for citizenship. And that would be certainly, that would be the grand prize to do it also to get their green card. And so we do help them do that also. That requires, you know, legal assistance, so that's a little costly. Also for medical, we do have one case where a woman was able to help her children, but the children were Honduras. And so we paid for the tickets for the kids to come up so that she can do the process and go forward. So what I'm extracting from everything you just said is that immigration is a very complicated process. And we're dealing with folks who, you know, if you are a citizen, there is somewhat of a safety net. There is Medicare, Medi-Cal, there is Social Security, there, you know, disability and things like that. But if you're an immigrant, you don't have access to all of that. So there's a continuum of providers and organizations who are stepping in to advise on legal to help with basic costs like gas and food and pots and pans and things like that. And legally, there's a lot of safety nets missing too. So for instance, and correct me if I'm wrong, my understanding is that a lot of the juveniles here don't necessarily because they don't have legal citizenship status, don't have guaranteed representation when they want to seek asylum. But they also can't represent themselves in court because they're juveniles. So trying to make sure that they have access to legal representation is one of UN's goals as well. So they can get really lost in the system. Oh yeah. They're out there with nothing to protect them. Matter of fact, we just had our first DACA application interest a couple of days ago, which we had one and I won't say months. And again, that's deferred action, childhood arrivals. So that's someone who came to this country as a child? As a child. We're usually accompanied by, you know, accompanying their parents. Right. And they're here and they have no citizen. They have no status at all. You know, so that gives them a pass in that it protects them from deportation. Yeah. It gives them a driver's license, which now they can get anyhow, but a workers permit also. So that's really very valuable. It's a protection for that child from anything that might happen as far as deportation, ice and those kinds of things. Sure. And if you don't have that, well, you're out of it. Recently, a couple of specialty things that I was going to say, and we had mentioned it. And this was with the fires that we had in Napa Valley a couple of years ago or a year ago. There's a couple of organizations over there that we found. And again, it's not Yolo County. So we kind of fudged a little bit on our mission. We all live in this valley though, right? Yeah, exactly. We're all friends. Yeah. But there's two groups over there and we talked to them and we gave them grocery certificates. Some of those people are mostly workers that are in the vineyards. And so we gave them some grocery certificates that helped them. Many had lost, you know, their food or lost their place where they were living. And just recently, because of the campfire, fires that we had up north and paradise and paradise, a couple of people came down and it was it was possible to have them housed in the Davis migrant center. And so what the ends part has been to supply them with their basic needs, you know, sheets, some clothing, pots, pans, what we were talking about. And so that's one of the things that endears me to Yen. Certainly we have a mission and we try to accomplish that mission. But every once in a while, we kind of kind of have a divergent kind of thing. And if not us who, you know, and so that's really good. But we're really very lucky to have the people that we have on the board. I think a lot of nonprofits have to be somewhat flexible, especially these days and kind of help or help is needed. And again, that comes back to being rooted in in compassion, having a mission of compassion connections, you know, you know, who over here, not that makes it any more important than anybody. If you have an issue in, for example, legal services, we can give you that, but we can refer you to the immigration law clinic or was the California Rural Legal Assistance Foundation. Right. And so we can advise them to go that way. So that really helps.  Oh, yeah, it's a exciting job. And it's one that I think is really, really important at this point of juncture for Yen. Because theme you hit on earlier was the fact that this stuff is expensive, trying to provide people with these safety nets and trying to help them through the legal process. So what we're doing with this fundraising dinner is providing a way for the community to all come together and kind of mutually aid each other in trying to help these people because we don't ever want to be in a situation where we have to decide who we can afford to help or not help. Yeah, that can't feel good. So let's talk about time and place and where people can get more info and tell us more about the event. Well, the dinner is going to be on April 10th at the Veterans Memorial Center. We have a website, yinyolo.org where you can go to learn more about getting tickets. Our speaker is really great, Eliana Kamowitz is a lawyer for California Change Legal Fellows. And she has spent her lifetime advocating for immigrants. And recently, as part of her fellowship, she even worked in the governor's office helping to advise on immigration policy. So she knows a lot about this issue and she's going to be giving a good overview of it at the dinner. Okay, so we'll hear from her. And then what else typically happens at your fundraising events? Oh, so we'll have lots of really good food. We'll have a music from Miragacha Puente. We have a silent auction, which is going to be really fun and drinks and wine provided by local breweries. Great. So I asked Ramon this earlier, but what drew you to this work, this work that yin is doing? For me it was being a student and I'd been involved in nonprofits before, largely through. There's a lot of ways, often for undergrads to get involved in things going on. But when you're a graduate student, you kind of just end up in your own little personal bubble, worrying about your own issues. And you follow the news and you see all the things going on. And there were a lot of stories that were bothering me and stressing me. And I realized at some point I just had to find a way to be involved. And after just Googling around, I very quickly found out about yin, went to their board meeting and was just really impressed being there. I've been to a lot of nonprofits and seen lots of different things, had different experiences. But I don't think I've ever really seen anything quite like yin, where it's just members of the community just kind of pulling through this together. There's nothing special, no reason why it had to be these people doing it, but they're doing it. And I think that's really awesome. Because they care. So we have just a minute or two left. Anything else you want to add? I was thinking, are your meetings open to the public? If someone wants to get involved with you, how would they find out more? Absolutely. We meet the second Wednesday very month. We start at seven. Here in Davis, we meet at the friend's house right down the street here. And we try to have one meeting in Woodland once a quarter and we meet at St. Luke's in Woodland. So certainly anybody is welcome to come in. Our agenda is usually full. And if there's somebody who wants to do some kind of presentation or something of that nature, you know, something that's certainly directed to our immigration mission, that they just send David Lichtenhan, who is now the current president, send him what you want to talk about. And we'll try to fit it in our agenda. And it's always a good outreach to for this people. Well, appreciate you both coming in today and talking about the work that you're doing with yin. And I learned a great deal and I hope others will too. And I'll see you at the fundraising dinner. Well, thank you so much for being with us. Thank you for having us. And thank you for tuning in once again in the studio here at Davis Media Access. And we'll see you next time.


Welcome everybody. Aloha and thank you for joining us in Lillian's vegan world. The show in Honolulu where we talk about the vegan lifestyle and plant-based diet. First of all I do want to say to all of you I hope that you all are taking care and staying health and safe for those of you who are affected by the COVID-19. I do extend my condolences and wishes and hope that you get back on to track as soon as you can. Today I am welcoming back my dear, dear friend, fellow chef extraordinaire, vegan chef and cooking instructor chef Paul Onishi. Aloha chef. Aloha. Good to see you. So good to see you. Always great to see you and have you on the show bringing your insight to Honolulu about the vegan lifestyle. How's everything going with you? Well believe it or not it's been going pretty good. I've been very busy and doing constructive things so you know, could be worse but I'm very blessed. Yeah that's the thing isn't it? Today actually chef we did want to talk about keeping a positive and healthy mindset during this so-called lockdown. I think you know all of us are suffering from some form of loss, some deeper than others and you know we're all anxious about the future and what lies ahead but I think all we can do now is let nature take its course, get through it the best way we can. We all you know have to realise that we're not alone. There's always someone here that you know can support you and help you through it but today we are going to talk about things that we can do during this lockdown to keep us busy and happy and healthy. Sounds good to me. Okay so chef what's on your mind? First of all how have you been spending your time? Both you and I, I think I speak for you when I say we are both unemployed at the moment as chefs and cooking instructors here in Honolulu so that has freed us up to be creative. Tell us about what you've been up to. Well for me I had to make the adjustment from actually being involved in 12 different part-time jobs and then having them one by one just kind of disappear. You know I was teaching with the DOE substitute teaching I was teaching it down to earth, teaching at Job Corps and every one of those opportunities just closed up so I had to kind of you know reprogram myself and see what I could do in the meantime so I kind of established this culinary sabbatical for myself. Awesome a culinary sabbatical I'm intrigued. Well that's one of my list of five things that I do every day and by culinary sabbatical I mean that I actually go into my kitchen and I think of all the recipes and different food items I never got to do because I was either too busy didn't have the ingredients or just didn't have the motivation at the time but every day I'm doing something from like Indian samosas to Thai curry to you know all kinds of variations on vegan food and I'm surprising myself because I'm actually coming up with some pretty good recipes and hopefully when the virus lifts I'll be ready to go back and teach and have a full armament of things to you know offer my students. Absolutely that sounds fantastic and I do want to mention that yes Chef Paul is a very famous cooking instructor here in Honolulu so once you start getting your events back together we will definitely post them for you so that people can come and take some of your classes and learn about these new recipes that you've been creating. I mean that's fantastic some of the best dishes I think come about when you're not thinking about it you're just working with ingredients that you have on hand and using that you know creativeness that you have within and end up producing like some of the best food. I've also Chef been experimenting here with a lot of Hawaiian favorites actually I've been veganizing Hawaiian favorites and I've found this completely new Philippine cuisine that I absolutely love. Yeah for me it's been you know the same way only we're going down different rabbit trails and finding out it's a lot of fun a lot of fun. It is yeah and I think so one of the things that I wanted to talk about which is sort of a nice segue into this this little tip that I have is while we have all of this time isn't it a great opportunity to start thinking about your health and learning about your health and nutrition? Well definitely because I can't go to the Ikahi Health Gym like I used to do downtown I just started walking around my neighborhood and doing my you know 10,000 steps five miles up and down the hills and at first it was really challenging but then I got used to it and walking by myself you have a lot of time to think and kind of you know just just put things in a different perspective because everybody's going through the same thing you're going through and we all have to find our way to keep sane and to keep productive during this time period. Absolutely and the fact that it's difficult for a lot of people to leave their homes I mean especially for the age to a concern who are in that category of very easily contracting the coronavirus so a lot of people who do have to stay home are finding ways to stay fit and healthy I'm doing my yoga here not every day three to four times a week I'm doing my power yoga my husband has turned into a fitness fanatic gets up at 5.30 or 6 o'clock every morning before he starts work he's working remotely as well from home and he's working on a day working out on a daily basis so it's funny isn't it I think there's going to be two types of people that come out of this lockdown and one of them are going to be people like him who have found this whole new healthy way of working out and getting it done in the morning making sure that there's no excuses to put it off as the day goes on and I think the other thing that can happen unfortunately is the other group of people that are going to come out of this heavier than they were in that more depressed sort of state which is really what we don't want we want people to get through this come out of it healthy and you know get back on track so I do want to ask Paul if you don't mind I do want to ask you where do you get your protein from? Well I get my protein from garbanzo beans for one because as you know I have a couple of garbanzo beans fulfills the daily protein requirement that the US government requires and I don't know how many people know this but the actual proportion of protein you get from a half cup of garbanzo beans is equal to a porterhouse steak Thank you so much for clearing that up see I knew I could count on you that is absolutely right and the thing is Paul all of this talk about protein and all of these misguided dieters I would have to call them are so focused on protein and getting that daily protein when I guarantee not people not many people know how much protein they are supposed to be getting so according to most research it's about 0.36 pounds per sorry 0.36 grams per pound of body weight so if the average 165 pound human person will require about 60 grams of protein a day now the Americans are getting somewhere around 100 grams which is double the amount of protein way more than necessary and on the other hand I should say on the other hand there is one nutrient that Americans are getting less than 3% of the recommended daily intake do you know what that is? No I don't yeah fiber 97% of Americans are not getting the recommended amount of fiber per day so they're saying on average the American is getting 15 grams you need about double that you need about 30 grams of fiber so you just want to fill up on a lot of whole foods apples, pears with their skins on berries, whole grains, faro, millet, back beans here's one that's full of fiber that is a snack that everybody loves popcorn so three cups of popcorn, three cups of popcorn already comes to four grams of fiber so there's lots of ways you can get fiber in and according to e-medi health I do want to just quote this from the e-medi health website dietary fiber promotes healthy digestion and regularity improves gut microbiota composition helps reduce cholesterol and improve cardiovascular health helps control blood sugar levels and diabetes tames appetite by keeping you full or longer and helps regulate weight and protects you from developing colon cancer so I just want to in summary say the next time someone asks you where you get their protein from ask them where they get their fiber from now now I'm according to your list I'm doing pretty good because I have all those things available at home and I'm very fortunate to be able to like you be creative in the kitchen and kind of mix and match these different ingredients to come up with some really interesting food choices well vegans are pretty much all rounded when it comes to getting their vitamins and nutrients and stuff so I think yeah the average vegan who's eating healthy not you know filling up on junk food every day the average vegan is getting all of these requirements daily nutrient requirements so you don't have to worry about it all right Paul we are going to go to a quick break in a second but we will be back definitely to talk more about some of Chef Paul's ideas on keeping it cool during the coronavirus lockdown so do stay tuned everyone and see you after the break my show is based on my book also titled beyond the lines and it's about leadership creating a superior culture of excellence and finding greatness I feature a wide range of amazing guests who share valuable insights about how going beyond the lines leads to success in everything you do in life I'm looking forward to you joining me every Monday at 11 a.m. Aloha welcome back everyone to Lillian's Vegan World we're talking to Chef Paul Onishi about how we can keep things cool and keep a positive mindset throughout the coronavirus lockdown so please help me welcome our guest back Chef Paul with cat in hand what a gorgeous portrait that is tell us about it this is a portrait of my cat Little and this is a perfect stay at home business and I'm putting it on the screen because this is a college student who's being productive during the time of being at home and all she needs is a photograph of your favorite pet and she knocks these out in a couple weeks and she's really good at it she does oils or an acrylic and I was really impressed when I saw samples of her work so I said I've got to get a picture of my cat that is so adorable she captured the spirit of my cat who by the way is one of my five list of positive things that I do every day which is spend time with my cat, my pet yes I couldn't agree more as you know I well both of us needless to say our animal lovers but I also have a cat as well and I know that life is just so much brighter and so much more fun when you have a pet absolutely definitely not yeah that is a good question yeah I mean it just go ahead sorry Paul go ahead please continue it's different from relating to a human being especially now when a lot of us are kind of incubating and have to stay at home you know I don't have to entertain my cat when he wants to go away he goes off on his own and then when he wants to come back when he's hungry or get affection you know we're pretty independent that way so the relationship works out very well I know that's exactly what I love about cats like they're so independent and so kind of happy to chill and do their own thing they don't sort of hoard your attention or you know make you expect you to spend every living moment with them but yeah they're adorable each with their own personalities like every other animal and hopefully one day chef the rest of the world will see animals in the same light each with their own personality with compassion and not want to harm them and you know let them be just like the dogs and cats that we all adore they're all the same aren't they animals no so what else have you got on your list of things we can do during the lockdown or the incubation period as you referred to well every morning I start off my day doing my daily devotions and meditation that's where I kind of get my mind focused and I get set spiritually for the day and kind of detox from the previous day and get my mind and my whole personality set for whatever it is I'm going to do which you know for a lot of people it's very limited because of the isolation but there's a lot you can do at home for example cleaning up your house and for me this relates a lot to that culinary sabbatical I was talking about because you know before I used to just get in my car or go to the store just to pick up you know one or two ingredients but nowadays it's not economically or safe you know to do that kind of shopping so what I do is I make a list of the things I am interested in preparing for the next couple of days or the week and then I go out and I actually buy the ingredients and I try to see how many different spin-offs I can do with for example a bag of potatoes rather than just let them sit there you know one of the things I do in the kitchen is try to come up with different ways I can spin off on different ingredients I have and in that way I've come up with so many different variations culturally not just vegan but if people wanted to add meat to it definitely it would be a possibility if that's what they wanted to do absolutely Chef while we are talking about food I would like to ask Melissa to play a video that I prepared of the food that I've been just whipping up in my kitchen in the past month so we'll just let that play and talk over it Lillian's kitchen so this is all plant-based obviously and as I mentioned earlier I am sort of focusing on veganising some of Hawaii's favourites so lots of things here what you just saw previously was a dip made from breadfruit, elu dip so there's all these, that's a high tea that I hosted just before the lockdown started I think you saw some vegetable samosas there too Paul I'm a huge fan of those cauliflower buffalo wings there was some spam-ish mursi-y one of my new recipes for vegan luncheon meat teriyaki tofu twice frozen when you freeze tofu twice and drain it after each freezing it takes on a very interesting texture which I think a lot of people should there's my Hawaiian sweet rolls which a lot of people should definitely test out that looks good so that's a little bit of a taste of Hawaii and yeah definitely your advice is excellent Paul experiment in the kitchen, have fun find new healthy ways of eating don't get sucked into the take out phenomenon that's happening here although I highly and absolutely love restaurants that are really feeling this isolation everyone's sort of doing their part to try and support these restaurants and what have you but again in moderation I think we also at the same time do need to think about health and eating takeaway every night is probably not the best thing to do but we do have here's one of my tips we do have a couple farmers that are actually delivering food straight to your door and here's a list of just a few farm link Hawaii you can look online to get their details and call or contact them if you do want your fresh produce delivered straight to your door or do a pick up so there's Oahu Fresh, Kahumana organic farms Maua organic farms they all range between about twenty and fifty five dollars per produce box but isn't that an amazing way to help support the farmers and if a box of fresh produce is delivered to your door you're going to definitely use it as a matter of fact I just came back this morning from Marys garden out in Mililani and they have quite a few acres of hydroponic fresh lettuces they supply local markets and down to earth and their stuff is no pesticides no garbage in the soil and I could tell the difference because I had a baby romaine package I thought this stuff will never keep but I actually had it for three weeks and it's still as fresh as it was the day I bought it was pretty amazing did they deliver their food or is it just pick up well I went there today and now they're doing an online ordering and then they bring it to your car which is pretty good and they also represent quite a few different farmers on the island too so every given day there's something from papayas to lettuce to all kinds of different types of produce and the quality factor is pretty amazing and I walked out of there with about 20 dollars worth of fresh vegetables and fruits that I probably wouldn't be able to get retail and I don't think the quality would be as good but definitely support the local farmers they're doing a good job alright chef the other thing I did want to mention was the tabata exercise have you come across this or heard of it it's the four minutes you were going to educate me on that so I'm curious it's called the tabata exercise there's lots of names for it but basically it was developed by a scientist that was working in the Tokyo institution of health I think it was working with the Tokyo Olympic skating team and he developed this form of exercise basically what it is is 20 seconds of high cardio exercise with the 20 seconds 10 second break and that is considered one round and you do that for 8 rounds which comes to 4 minutes for a full completion researchers are recommending you do this 2 or 3 times a week take a break within 4 minutes studies are showing that it gets your metabolism up it's enough cardio to act as like a full 30 minute or 60 minute moderate form of exercise so the 20 seconds of exercise you do you can do anything like jumping jacks you can do push ups combination of it it's the longest 4 minutes of your life but after it you do feel you do feel like you've accomplished something even though it's only such a short amount of time so tabata exercise have a look at it online might be something that you want to do if you don't enjoy exercising for long periods of time chef we are coming to the end of our show I do want to thank you so much please give out a message to our viewers before we say goodbye what was that again please say goodbye to our viewers as we close the show be safe be careful wear a mask keep your social distancing and take as much as you can to stay at home and be productive and eat lots of fiber exercise when you can stay healthy stay safe stay positive and do trust that you know faith we all have to hold on to faith don't let go of faith because we're all in this together and we will get through it thank you everyone so much chef Paul and honor and pleasure having you on the show again I look forward to seeing you in person soon take care everyone


internal stability of the system that means input output stable system does not mean that all other signal internal signal will be stable. So, let us consider one system that is we have a reference input the controller, then controller output is corrupted with a disturbance input disturbance, then plant output also part of with a output disturbance, then the measurement noise del y is d y is the measurement noise, output is corrupted with a noise or it is sometimes we call it is a sensor noise and this is feedback. Let us see here we have how many inputs are there these inputs are unwanted signal d u d y and d n d u is the input disturbance and d y is the output disturbance and d n is the measurement noise generally disturbances are same frequency as the reference or input low frequency signal, whereas in the measurement noises are high frequency signals. So, these things we keep in mind disturbance is a low frequency signal and measurements noises are the high frequency signals. So, let us call we have a if you see this one 4 inputs are there are d u d y d n out of 3 input signals are unwanted signal and we take the consideration each summer output is the which summer output that signal what we will get you will take as an output. So, we have a how many outputs are there this summer output e this summer output u of t u of p and this summer output is y and this summer output is y. Again we have a 4 outputs are there let us see what is the output of the system due to the effect of all inputs that is first term. So, our inputs are input signals are input signals are signals e then d u then d y then d n is the input signals then output signals are input signal are this is r sorry, this is r. So, output signal is e then summer each summer output is u p and this summer output is y this summer output is y n. So, if you see we have a 4 inputs 4 output system if we now you want to find out and further we consider that we have a single input single output system and that is linear time invariant system. We consider single input single output linear time invariant systems for this one we will see what is this output y of s form the Laplace transform output due to the all inputs.  So, total output having a 4 components each is due to the each inputs that r d u d y d n. So, let us find out first we consider since it is a linear time invariant system the output of y that means y 1 due to r 1 only keeping all inputs is assuming there is no inputs d u d y d y we want to find out the output y which is denoted by y 1 due to r. So, it is a simple our closed loop system standard closed loop system. So, loop we can write it g s c s forward path transformation divided by 1 plus loop transformation that is g s c s into r s. So, this component we can consider this component we can consider as if this is y 1 of s due to input of r s. Then we will find out what is the output contribution in this side due to this input only other inputs are assuming 0. So, if you see this one if you can read all this one you see this is the input is going that then our feedback is minus c s. So, it is a forward path transformation is g and loop transformation you see this is not there this is not there this is not there it is going here then this output then straight away with this controller it is feeding back to here. So, forward path is this one then loop transformation is g s c s into d capital d u d u of s plus transform of this one is d u of s. Next is we will find out what is this what is the output due to this input only. So, now see this is 0 this is 0 assume this is 0. So, now if I read all for this case I will read all and then I will explain how it is coming that 1 plus g s c s into d y of s read all this circuit when this input is only present other input is not there. So, I just read all this one d u. So, this is the output is going here this is the this is going from there this y I am feeding back feeding back. So, it is coming here c s g s this is not there this is not there this input. So, it is a c s g s and then it is feed back here minus. So, this is d y and this is your output y you can say this output is y 3 of t then what is this output here this one is 1 by this output this error signal you can say this nothing but a 1 by g s by s s 1 by 1 plus g s s s in this one this is a standard block diagram. So, you can find out what is the trans function between this and this forward path trans function is 1 and feed back trans function is g s s s s. So, that is we got it next part is left is next part what is left is plus I will write next part plus next page next part is plus. So, this will be due to this one due to this one what is the output here. Now, you can assume this signal you see what is the signal y n y is coming here d n is going here this then r is 0 d is 0 again this is 0. So, actually y plus d n is coming here and this is going here you one can think of it this d n is equivalent to r if this is coming and with minus. So, if I show it here with a minus sign here d n is the input and y is the feed back is coming from this one. So, it is same as our what is the trans function forward path trans function and loop trans function then g s c s divided by 1 plus g s c s minus d n s. So, this I can redraw if you like I can I will redraw 1 plus g s c s that will be minus d n of s. What I am telling it this signal I equivalently consider as if this signal is d n is here because this signal is y plus d n d n d n plus this will be minus y minus d n. So, minus d n I am taking into this one and then I find out the trans function between the y that is between d n to y or you redraw as you redraw. It is this one similar to this one you redraw this circuit when input is this one output is that one. So, it will come this one now this total output of the system due to the reference input due to the input disturbance due to the output disturbance and this is due to the noise in the measurements of sensor noise due to the sensor noise. So, one can see this one similarly this is for e s y s y s. So, this summer output we have a summer output here we have a summer output u of p here we have a summer output y n. Similarly, I can similar manner similar manner one can write e of s that I am not showing you can easily find out this one e s this e of s the signal e of small e is having a four components due to r 1 r due to d u due to d y due to d n. So, that you find out the trans function between input this and output this when these other the zeroes find out the trans function between the input this I agree when output is this one when these are zeroes and similarly you find out other inputs for other inputs also.  Now, you see what is the error signal e of s in Laplace domain is contribution due to the four inputs that is what we are doing due to r s due to d u input disturbance due to d y that it out to output disturbance due to the measurement noise this similarly you can write there is an another output of the summer output is y y you have written. So, this e s is written then u of p I can write it u of p similarly u of p s is equal to c of s divided by 1 plus g of s c of s into r of s plus 1 plus g of s c of s d u of s minus c of s 1 plus g of s c of s into d y of s plus 1 plus this is g f plus this will be a next one is minus c of s 1 plus g of s into c of s into d n of s. You see thus you will get 1 plus g of s and you find out what is the transfer function between the input r and the signal y of s keeping all other input 0. It is just the way we have shown earlier the same way to find out only your input is r s that y p is the output again another contribution in y u of p due to the input u of s input and what is the y of p is the output was the transfer function between the input d u and u p find out the transfer function between d y u p find the transfer function of between input d from the input d n and u p. So, this transfer function you have obtained then another signal you have that is y n signal find out y of s transfer function between this reference input to the output this one from this input to the this output this input to this output this input to this output find out the transfer function you consider one at a time input into the systems. So, that you will get it if you do this one that you will get it y of n y of n s is equal to g of s into c of s divided by 1 plus g of s c of s into r of s this is due to the reference input. Then another term you will get g of s 1 plus g of s c of s into d u of s that is due to the input disturbance then another term 1 by 1 plus g of s c of s d y of s this is due to the y n due to the output disturbance then you have a 1 plus g s c s into d n this is due to the measurement noise input. So, we have a four inputs four outputs we got the that output expression into the Laplace transform four output expression in terms of Laplace transform due to the contribution of four inputs in Laplace transform. So, if you write it in more compact form in compact form form if you write it that means matrix and vector form if you write it then this will come we keep it right hand side is the output signals in Laplace transform. So, e of s then you have a u p of s then you have a y of s this order we have kept it you can put it any order that does not matter accordingly transform elements will change. So, what is our inputs inputs also r of s d u of s d y of s d n of s. So, now this four equation you this four equation you see that e s u p then your expression then y n expression then y y expression you if you write it in compact form you will get it one minus g of s minus one one then this is corresponding to that one then next is you will get it c then one minus c s minus c s then third one is your g c g of s c of s g of s one minus g of s into c of s then last expression last row is your g c g of s c of s g of s one minus g of s into c of s then last expression last row we can write g of s c of s g of s one and one and if you see g of s c of s g of c in all the expression e s all the one plus g g and c is common in all factors e s u p y p y and y n this factor is common. So, I am writing this factor one by this is one by that is is one plus g of s into c of s. So, this is one plus g of s into c of s denominated part is that one is common for all elements of this matrix. So, this is called transfer function matrix for multi input multi output case initially we as for single input single output case we used to call it is a transfer function for since it is a multi input multi we have a four inputs are there four outputs are there. So, naturally we have a this transfer function dimension is 4 cross 4 how many elements are there 16 element. So, this feedback system is internally stable that this feedback system this is the what in general it is nothing but a if you write it that output that all input signal is mapped to a output signal through a what is called a matrix which we call transfer function matrix. So, our conclusion is the feedback system which is described into transfer function model which is described in transfer function is internally stable if and only if necessary and sufficient condition each element that one by one plus g c c g minus g of s divided by one plus g s c s must be each element of this matrix must be stable. In the other sense the all the poles must be left up of the s plane then the system is internally stable means this indicates all internal signals e u p then y n then y are all stable then we will call the overall system is stable in the in that sense it is not that only input output point of view we told the system is input output means only r s and y s. So, the system is internally stable if and only if each element of the transfer function each element of the transfer function matrix has stable poles or Harwit or Harwit this is the internal stability of the system one has to judge like this way. Let us see the effect of this how we can reduce the disturbance effect at the output how we can reduce the noise effect at the output. Because consider now recall the our output equation recall the output equation and output equation is we have written the first this will write it this equation first this equation. So, if you write it this one y of s is equal to g of s c of s one plus g of s is equal to g of s c of s into r of s this is due to the input and next is g of s one plus g of s c of s into d of u of s then minus or plus you can write it one plus g of s c of s into d y of s minus g of s c of s one plus g s c of s d n of s. Again this is the output of the system what we have considered is affected by reference input input disturbance output disturbance and measurement noise or sensor noise. Then our next job will be how we can minimize the effect of disturbance and noise at the output that is our next target that how we will design a controller. So, that effect of disturbance at the output will be minimized. So, let us rewrite this equation we can rewrite that equation that we can write one by let us call one by g of s is defined by s 0 of s then this will be a at 0 of s and this we denoted by t 0 of s this transformation. So, we can write it t 0 of s into r of s then g of s into s 0 of s into d u of s plus s 0 of s d y of s minus t 0 of s into d u of s d n of s. Now, we define that this s 0 of s which is nothing but a one plus g s c s we call this is a sensitivity function sensitivity b t sensitivity b t function it has implication on the while we will design the system or when we will design the controller the sensitivity sensitivity function. Then t 0 of s is called t 0 of s is a g of s c of s one plus g of s c of s is called complementary sensory sensitivity function c t b t function. So, and it can be noted that you can note that t 0 of s plus s 0 of s that value is one. So, t 0 of s is now we will see look at this expression that I want to I want the effect of output disturbance at the input should be as small as possible. Now, what we can do it as you can remember that I mentioned that this signal input disturbance and measurement signal this signal are low frequency signal. Whereas, measurement noise is high frequency signal this is high frequency high frequency signal and these are low frequency signal low frequency signal this and this because it disturbance is a low frequency signal. So, look at this expression since it is a low frequency signal and our plant is most strictly proper trans function most of the particular plant is a strictly proper trans function and it is a plant is a low pass filter. So, naturally if you see the frequency response of g the magnitude will decrease with increasing in frequency the high frequency the magnitude of g will be a small and with a high frequency with increasing in frequency it will magnitude will decrease. And now our job job is if the we can make it the sensitivity function at low frequency is very small then effect of disturbance at the output due to the output disturbance will be small then how you make it this s is small at low frequency. This it is obvious that g s c of s you have to design in such a way that product of g s and c h which is called loop trans function must be very high at low frequency. If it is a very high it magnitude at low frequency then 1 by 1 plus g s will be small because this quantity is large. So, the effect of disturbance will be at the output will be as small as possible by selecting the this is called the loop trans function loop trans function. The loop trans function value at low frequency is very high this we can make it and if you can make it this one this effect of disturbance at the output will be small. And here also you can see this is the low frequency signal this now this things you see this 1 by g of s is small and g s is the strictly proper trans function the effect of d u also will be small at the output. But, this term will not be affected because this quantity you see this g h it is it is it is affected with a high frequency signal not low frequency signal. So, this picture will not come when it is a low frequency signals are accepted with the low frequency signals. And this magnitude is small for this one when it is accepted with a noise this term will not come to the picture because d n is the high frequency signal we know this high frequency is the magnitude the loop trans function value is very small. So, this is small 1 plus this small. So, it is nothing but a this is small compared to 1 you can neglect it. So, g s c s is very small when it is excited with a high frequency signal. So, we can now summarize this all these things into a this thing design our design of objective you recall our equation y of s is equal to t 0 of s r s plus g h 0 of s d u of s plus h 0 of s d y of s minus t 0 of s d n of s. So, from this equation we can say for one design objective for good output disturbance of the rejection what we have to do it we have to do it output disturbance that output disturbance this term that s 0 must be small in order to make s 0 the loop transform g s c s should be high at low frequency. So, in order to this s of s must be or s of j omega must be mod of s of j omega must be very less than 1. This can be achieved if the loop trans function loop trans function that mod g of j omega h c c of j omega is very greater than 1. So, this is one if we can make it s is equal to 0 then you see the effect of disturbance and output will not come into the picture. If s of j omega mod of this one is make it will 0 again at low frequency region then perfect output disturbance rejection is possible. This is one condition the output disturbance next is good for good tracking the reference input we have output should track the reference input. If output should track the reference input then t 0 of s must be equal to 1.  So, next objective design objective even if you want to achieve next stage for good set point tracking what does it mean the output should track the reference input that is this one the output should track the reference input in order to achieve this one. If you see this equation if you this t 0 of s the small because r s is a small frequency. So, signal small frequency signal. So, the t s in the small frequency range t 0 of s must be equal to 1. So, t 0 of s nearly equal to 1 this can be achieved if loop trans function g of j omega mod c of j omega mod is very very greater than 1. Now, if it is what is t 0 of s t 0 of s c g c s divided by 1 plus t 0 expression if you see c s g s c of s 1 plus g s c of s agree. S is equal to j omega this quantity if you want to make it very very greater than 1 very very greater than 1. Then what is this quantity will begin what will get it 1 is neglected with this one. So, this can say it will be 1 if you can loop trans function if it is high in low frequency and that is possible with since the plant is stable and is a strictly proper trans function that low frequency region the value of g is high and also design a controller c of s in that way it is a strictly proper trans function and also the magnitude of c j at low frequency is very high the product will be very high at low frequency. So, third objective of the design is for good noise suppression for good noise suppression. Now, see that this noise suppression if you want to make it this one then this should be a 0 agree, but mind it this trans function what is this one this is excited with a high frequency signal this is a high frequency signal signal. So, for suppression of high frequency signal that suppression of the noise at the output because noise is the high frequency signal this must be equal to 0. You have to make it 0 then you have to make that loop trans function at high frequency the magnitude of that one must be nearly equal to 0 or as small as possible. So, for good suppression that t 0 of s must be 0. As small as possible if t 0 of s nearly equal to 0 then we would be then would be perfect perfect noise suppression then there would be perfect noise suppression. So, how to say you know I just mentioned it g of j omega at high frequency the magnitude is small similarly c of j omega at high frequency the magnitude is product of this one will be very small. So, if you can design a controller in such a way at high frequency the magnitude of that g of plant magnitude is nearly equal to very small and g of s does not increase with change in high frequency range because it is decreasing with high frequency range then product is small. So, we can write it note at high frequency g of j omega magnitude will be small because of it is a strictly proper trans function and stable one small since g of j is strictly proper trans function this is one way and next since c of j omega c of j omega does not increase does not increase with frequency does not increase with frequency with high frequency. So, the t 0 of j omega mod can be made can be made small at high frequency range at high frequency range high frequency range so, this the third objective is good noise measurement 4th one is your for less control energy to be supplied to the systems control energy afford for less control afford energy afford. So, this can be achieved by c of s a 0 of s must be c of s must be c of s as small as possible as possible. Now, look at this one that expression the control afford expression I will just show you the control afford expression this one.  Now, see this one this c s divided by 1 plus g s of s. So, c s into s 0 of s so the control afford will be u of t or afford will be a small if you can make small because it is a low frequency range this. So, if you can make it so this is also you can make it small at low frequency because loop trans function is high loop trans function here is high. So, this is possible provided you can make it this as small as possible because this quantity at c s and s 0 you may make it because I can make it this is small because the loop trans function at low frequency our designer choice is that should be a loop trans function will be high which in time s 0 should be low. So, this way we can reduce the control afford in the into the system by c 0 of s by making c 0 of s as small as possible. So, our desirable shape of the loop trans function shape of loop trans function like this way this way this is omega and let us call this is our we are plotting loop trans function g of s c of j omega mod in this directions agree and we have a this region we are showing and this is the region. So, frequency response of our loop trans function should be like this way. So, this indicates the gain above this level in the low frequency. That means loop gain should be more than loop gain this is the loop gain loop gain should be more than the this level more than this level at low frequency. This is the loop gain with loop gain frequency versus magnitude of the magnitude of the loop trans functions and loop trans function gain magnitude of the loop trans function must be greater than this level. Whereas, the loop gain at high frequency this is at low frequency whereas, the loop gain at high frequency must be less than this level must be less than this level. So, this is the you can say this is the gain loop gain below this level in high frequencies the loop gain you can write it loop gain this is loop gain loop gain means g s c s this is the distribution of desirable shape of our loop gain. Then we will be able to achieve the four other design objectives that good tracking good disturbance rejection good noise suppression than less control effort. If you can make the desirable shape of the loop trans function like this way that means at low frequency the loop gain must be more than this level and the loop gain at high frequency must be less than this level that is what you can do and this point is called the mid frequency mid frequency and this determines bandwidth and stability margin. So, we have seen whether our design objective is there in true sense if you see in order to when we are going to design the what is called our controller to take care of these all design objectives. Our plant model we must know, but generally when we have given the actual plant and the plant model when we are doing that some of the issues we are not taken into consideration when we are modeling the plant. So, the model what we will get it that is called the approximate mathematical model of the plant. So, there are plant uncertainties is there depending upon the two types of uncertainties structure uncertainties and the unstructured uncertainties. Suppose for example, if you have a simple resistance inductance and capacitance connected in series and that circuit is accepted with a input signal and if you find out the trans function between the input signal and the output is the current flowing to the circuit then trans function will contain the what is called numerator and denominator polynomial in S. So, in second order system you will get the denominator polynomial of order 2 and each coefficient of the polynomial is nothing but a system parameters system parameter means in this case it is a resistance inductance and capacitance. So, this resistance and inductance and capacitance will change with time today we have found out the trans function for the value of R L and C may be three months after the parameter value may change it. So, it is model parameter it may be we will change it, but we have designed the controller based on the nominal model then after three months the plant model will change. So, same controller whether it will be stable stabilize the plant or not that is the issue of our study next. So, next is your plant uncertainty plant uncertainty plant uncertain arises arises from the inevitable of the discrepancy between the plant and the model between the true plant and its model. So, plant uncertainty is there. So, there are two types of uncertainty and two types of uncertainty structured uncertainty two is unstructured uncertainty. Structure uncertainty I just mentioned it that suppose we have model the system of R L C circuit now after may be one year or six months the parameters of R L C may change it again and we know particularly which coefficient of the denominator of the trans function polynomial is change that we can know that you know exactly the position where the parameters are changed which coefficient parameters are changed. So, that is will be called structure uncertainty and unstructured we have do not have much knowledge about the model uncertainties about that one. So, our problem is now robust before that I will check what do you mean by we will just discuss that unstructured uncertainty. Suppose first we consider the case additive uncertainties additive uncertainties. We have a system we have a controller we have a plant and this is the model of the true plant this one when we are doing the plant model some of the issues we have not taken into considerations either if you get the model from frequency response some of the high frequency effect high frequency signal effect where the plant magnitude is very small and it is highly corrupted with the noise that part is we are not able to model that part high frequency part of the model system will not be able to model it. So, this is the plant model and we consider whatever the discrepancy between the two plant and the model is denoted by a delta a of delta delta a of s this is the and this output then it is a feedback r s this is y s. So, this is the plant model and this is and there is a discrepancy between the true plant and the model and its model and that discrepancy is compensated with a delta a of s. We do not know about the delta a that perturbation only we know its frequency response if you see what is the upper bound of that perturbations we know it. So, and we made an assumption this perturbation we made it is stable transfunction that perturbation stable transfunction. Now, if you see this one what is this model is that that one what is this model it is nothing but a g m of s plus delta a of s this block g m delta a of s. So, our problem is to study the stability of that one. So, let us call this is u this is b. So, let us call the controller c of s is designed based on the model parameters that model parameters g m of s model transformation now our question is whether the how much this controller can withstand the perturbation before the closed loop system becomes unstable. So, I have to find out the bound of this already perturbations what is the maximum perturbation bound that controller can withstand before going to unstable. So, then we have to how we have to design that one that is our problem. So, next class we will see that how to handle such type of problems to design a controller.


Hi, I'm Guillaume, I'm an analyst at AdyTechX, and we're here at the AdyTechX show in Berlin 2017. And here we are with the Center for Process Innovation with Dr. Simon Johnson. And so tell us a little bit about what you're showing today. Well, we've got a number of different displays here that show the type of capabilities we've got at CPI. We're a technology support organization, so we help companies to understand latest technologies. This is an example of something called inkjet flex technology. So this is a printed copper PCB that can be hundreds of meters long. So it uses inkjet printing to print a seed layer that then gets plated with an electrolysis copper plating process. It's important to say this is not silver, so it could be potentially cheaper than other printing technologies. It's cheap and it's quick and very easy to do, because it's inkjet based, so it means that we can produce hundreds of meters of circuits in a very short time scale. So this is an example of an inkjet printed circuit. So it has the LEDs mounted on it. There's a little crossover here, which is actually a rectifier chip, so that's a flexible integrated circuit there with some thin film transistors built onto it. And this is an energy harvesting device. So if we put it onto the reader there, we would see it light up. Well, if we're lucky anyway. There we go. So that's harvesting energy from the NFC field and lighting the LEDs. So there's no, apart from the LEDs, there's no chip, there's no silicon technology. No, there's no silicon on there at all. This is a printed rectifier device, made of thin film transistors. That's actually fabricated on a 50 micron thin film, so it's a real flexible integrated circuit. So those transistors, what are they made of? I don't know the details of the process. They're probably, I think they're pretty sure they're a PMOS device. OK. But they're some sort of standard TFT process. Right. So that's really quite a nice one. The other display we've got on the table here is a giant OLED. So this is a single OLED device, very large area, and it runs off just five volts. So it's a very simple device to use. And we can make very large area devices with this, which is really quite a novel. A novel approach. Right. OK. Next. Over here we've got a couple of different gas sensors. So these are thin film gas sensors that have been printed in various ways. These ones? All of these are, yes. So this is an ethane sensor. It's a thin film transistor with an organic gate layer that is sensitive to ethane. This is a volatile organic compound of VOC detector for breath detection. And this is a bovine TB sensor. All of these have been printed using different technologies and are used in a wide range of different applications. OK. And why is it interesting to use printing in this case? The overall aim is to try to get costs down and fabricate these things in a way that makes them very easy to integrate into other devices. And this is the final ones, a printed label that is used for temperature logging, temperature and humidity logging. So your packet of drugs might be contained within this box. This is a label that's been logging temperature and data over many weeks while the product's in shipping. And then once it gets to the far end, you know whether your drugs are still in good condition. Right. So what kind of components do you have in there? This is actually a hybrid device, really. So it's got some printed crossovers. It's got a printed substrate. And a printed battery. But then at the moment, we're making use of conventional silicon for the sensing devices and for the microprocessor. But this is quite a sophisticated processor. It's actually an arm. So we're not quite there on printing arm core yet. Although Pragmatic are actually doing that. They are printing their first arm processors at the moment. OK. Simon, thank you very much. OK. Thank you. Pleasure. Thanks very much.