Lecture III.pdf - Feedback Control System I Section 3 Fundamentals of Feedback Dr Keo Lychek Electrical Engineering Department Outline 1 Transfer

Lecture III.pdf - Feedback Control System I Section 3...

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Feedback Control System I Section 3: Fundamentals of Feedback Dr. Keo Lychek Electrical Engineering Department
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Outline 1. Transfer Function (review) 2. Open loop control Stability & Performance 3. Closed loop control Stability & Performance 4. Open loop control vs closed loop control 5. Step resp.: 2nd-order G(s) A taste of pole-placement design Extensions 6. Steady-state error 7. Summary and plan
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Transfer function
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Open loop control
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Stability & Performance
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Stability & Performance
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Stability & Performance
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Closed loop control
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The output signal
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The error signal, H(s) = 1
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Loop gain, H(s) = 1
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Stability, H(s) = 1
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Performance: s-domain, H(s) = 1
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A taste of loop shaping, H(s) = 1
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Inherent constraints, H(s) = 1
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Performance: time-domain
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Trade-off example
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Responses for Ka = 10
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Responses for Ka = 10, 100
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Responses for Ka = 10; 100; 1000
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Unformatted text preview: Typical step responses, fixed ω n Typical step responses, fixed ξ Key parameters of (under-damped) step response Peak time and peak value Percentage overshoot Overshoot vs Peak Time Steady-state error, e ss Settling time Rise time (under-damped) 10%–90% Rise time 10%–90% Rise time Design problem Pole positions Pole positions Final design constraints Caveat Poles, zeros and transient response Steady-state error Step, ramp, parabolic Step input System types Position error constant Ramp input Velocity error constant Parabolic input Acceleration error constant Summary of steady-state errors Robot steering system, P control Robot steering system, P control example Robot steering system, P control example Robot steering system, PI control Robot steering system, PI control example Robot steering system, PI control example Summary: Desirable properties Plan: Analysis and design techniques The end!...
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  • Fall '17
  • tola
  • 10%, 90%, Electrical Engineering Department, Dr. Keo Lychek, Typical step responses

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