Research Article

Nonlinear Dynamics of a PI Hydroturbine Governing System with Double Delays

Figure 2

Time waveforms and phase portrait of the PI hydroturbine governing system. (a) Time waveforms with , and  s. (b) The phase portrait with , , and  s. (c) Time waveforms of with , , and  s. (d) The phase portrait with and  s.
(a)
(b)
(c)
(d)