ElementsofFeedbackControl.pptVIP

Useful Range Tr=4.5(z-0.2)/wn Or about 2/wn Putting all things together: Settling time: 2) When ζ = 1, ωd = 0 The tracking error: 3) Over damped: ζ 1 Transient Response Recall 1st order system step response: 2nd order: Pole location determines transient All closed-loop poles must be strictly in the left half planes Transient dies away Dominant poles: the single real pole or the complex pole pair which contribute the most to the transient Typically have dominant pole pair (complex conjugate) Closest to jω-axis (i.e. the least negative) Slowest to die away Typical design specifications Steady-state: ess to step ≤ # % ts ≤ · · · Speed (responsiveness) tr ≤ · · · td ≤ · · · Relative stability Mp ≤ · · · % These specs translate into requirements on ζ, ωn or on closed-loop pole location : Find ranges for ζ and ωn so that all 3 are satisfied. Find conditions on σ and ωd. In the complex plane : Constant σ : vertical lines σ # is half plane Constant ωd : horizontal line ωd · · · is a band ωd · · · is the plane excluding band Constant ωn : circles ωn · · · inside of a circle ωn · · · outside of a circle Constant ζ : φ = cos-1ζ constant Constant ζ = ray from the origin ζ · · · is the cone ζ · · · is the other part If more than one requirement, get the common (overlapped) area e.g. ζ 0.5, σ 2, ωn 3 gives Sometimes meeting two will also meet the third, but not always. Try to remember these: + - Example: When given unit step input, the output looks like: Q: estimate k and τ. Effects of additional zeros Suppose we originally have: i.e. step response Now introduce a zero at s = -z The new step response: Effects: Increased speed, Larger overshoot, Might increase ts When z 0, the zero s = -z is 0, is in the right half plane. Such a zero is called a nonminimum phase zero. A system with nonminimum phase zeros is called a nonminimum phase system. Nonminimum phase zero should be avoided in design. i.e. Do not introduc