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Course roadmap
Modeling
Laplace transform Transfer function Models for systems electrical mechanical electromechanical Block diagrams Linearization
Analysis
Time response Transient Steady state Frequency response Bode plot Stability RouthRouth-Hurwitz Nyquist
Design
Design specs Root locus Frequency domain PID & LeadLead-lag Design examples
Suppose that we want output y(t) to track r(t). Error Steady-state error
Error constants
Step-error (position-error) constant
Kv
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Ka
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System type
System type of G is defined as the order (number) of poles of G(s) at s=0. Examples
type 1
For ramp r(t)
type 2
For parabolic r(t)
type 3
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Example 1
G(s) of type 2 G(s) G(s) of type 1
Example 2
G(s)
Characteristic equation
CL system is NOT stable for any K. e(t) goes to infinity. (Dont use todays results if CL system is not stable!!!)
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Example 3
G(s) of type 2 G(s)
A control example
By Routh-Hurwitz criterion, we can show that CL system is stable. Step r(t) Ramp r(t) Parabolic r(t)
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type of the forwardforward-path system determines if the steadysteady-state error is zero. The key tool is the final value theorem! theorem!
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