Nonlinear Dynamics of a PI Hydroturbine Governing System with Double Delays

Figure 5

The corresponding oscillation curves and phase portrait of the PI hydroturbine governing system. (a) The corresponding oscillation curves for and . (b) The phase portrait with and . (c) The corresponding oscillation curves with and . (d) The phase portrait with and .

(a)

(b)

(c)

(d)