QI@ system is stable
@ Eyput substitution ,
⑨start :
eco ) - It CA- '
B
-
- Itf -2434%10,9*5/1)-
- Itf ' -2431-1 ? ! (I )= I - 6=-5
④Raarphrpnteanti. it:;= finna f - 5 t t 27 .
5]= - D
Q2 i
⑤Tls) =It GIST
characteristic Eg. It KGISIHISKO¥E¥i;nmK ( s'
-125g - too )It- =o
S't 155 450
④guy ,
KC s - es --
,
§tlo)CS-#K CS - 3.5 ) ( s -128)-
( s -110) ( s -15 ) toes= #t#
i:¥#Ii
truth Test-
K ( s'
-125g - too )
-110=5't 155 4504k ( s ' -125g - too )
K ( s'
-125g - too )-
114115 -145*+1515-1150 - look)
§ K -11 50 - look
s' 25kt 15
soMi entire row O :
-25kt, K -- - Is5 : ' (Kt 1) s - + 50 - look -_ o
f- 5=-1105=115y
'
0-3
⑦Los - of{ =-lnCEosaF%oT
=
-411011€
Ft- 0.59
Wn -- too -- 14, I n
¢÷±×.
K = 90 ( from matlab )
④make Tp -- 0,2 = 5=0.59Wn -- 19.5 Wd
-
- 15.7 ( Imaginary Part)
" * ii. ⇒ Hat:3co - K . Cst 7 )
Gds) ---S . ( St co) ( St 20)
K --33.2 closed - loop :• 11.5-115.75
poles
con. a. . .
±÷i¥
⑨
- compensated- uncompensated
compensated version only has
32 overshoot , not desired 10%.
This is because the 2nd order
approximation is not accurate
enough .
To adjust, one can
move the zero further negative( but not crossing - lo pole ) so that
the asymptote is more negative .This way ,
the cross.y with the
damping factor 's line matches the10% OS requirement .
⑨ Els) -- RNC l - Tls ) ) pls) -- fTls ) =#
I t Gls )
I - Tls ) =#It Gls )
Rls)Els ) =-
I -1 Gls )
thanGls ) = -
S - Ls -110) ( HLF
I-
SEls ) =-900"-
s ( Sto) ( s -120 )
s-
t 30 S t zoo=-
S3 t 30 s't 200 s t 900@ system is stable ( see ⑨ )
@ Apply KVT :
eld ) = Lim s - Els)s -so
34305242005= ( im#s -so 53-130521-2005-1900
= 0
-compensated332 - ( s -17)
Gls) =-S . ( St lo ) ( s -120)
E- ( D=332 ( St 7 )i t-
S - Cst co) ( St 20)
L
5¥30 S t 200 S-
53+3054532 s t 2324
@ system stable seen from ⑨@ Apply FVT ,
@ (D) = Lims . Els)s -70
= 0
Qfwsefignrelo.9dlotenormalizat.in#-@Gls7--s(5tll'Cstloo)
-
I-
- - --
,-20dBIdea
uzodtldec idy.
- vodka .I '
'
I
0.1 A b too radsAngleton
90S
45 190 deyldeco " ?45dg%¥uT
-180#sD. I 1 to Ipo 1000
④ G. Cs) =60 -
S ' ( s t / o o ,
40 (Stl
,
db?
yudbldec"
"
^,
St l
90 - -
✓,-454dm .
°
- 90#m
"