lecture_27

# lecture_27 - Den_r = poly-1 5j-1-5j G_o = tf(Num Den K_o =...

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ME 421 Mechanical Dynamics and Control Fall 2006, Lecture 27 Today’s topics (Chapter 10) • Recap of feedback control system design; • Concept of model reduction; • Introduction to lead-lag compensator design by using root-locus;

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Design of PID-Type of Feedback Control
Proportional-derivative (PD) Control

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Proportional-Integral-Derivative (PID) Control
Concept of Model Reduction

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Model Reduction Method—Transfer function Viewpoint
%============================== % ME 421 FAll 2006 % Example of PD prefilter-design %============================== Num = 10*poly(-1); Den = poly([-1+5j -1-5j -15]); fig_k = 1;
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Unformatted text preview: Den_r = poly([-1+5j -1-5j]); G_o = tf(Num, Den); K_o = dcgain(G_o); G_r = tf(Num, Den_r); K_r = dcgain(G_r); G_r = tf(K_o/K_r*Num, Den_r); figure(fig_k), step(G_o), hold on, step(G_r); legend(‘Original Model’, ‘Reduced Model’); Num = 10*poly([-1 -15+10j -15-10j]); Den = poly([-0.5+5j -0.5-5j -18]); fig_k = 10; Num_r = 10*poly(-1); Den_r = poly([-0.5+5j -0.5-5j]); G_o = tf(Num, Den); K_o = dcgain(G_o); G_r = tf(Num_r, Den_r); K_r = dcgain(G_r); G_r = tf(K_o/K_r*Num_r, Den_r); figure(10), step(G_o), hold on, step(G_r); legend(‘Original Model’, ‘Reduced Model’);...
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lecture_27 - Den_r = poly-1 5j-1-5j G_o = tf(Num Den K_o =...

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