This preview shows page 1. Sign up to view the full content.
Unformatted text preview: ωn s + 2βωn s + ωn
2
ωn
=2
2
2
s + (2βωn + Kd ωn )s + ωn (1 + Kp ) T (s) = This gives the following relationships:
2
ωn = ωn (1 + Kp )
¯2
2
¯¯
2β ωn = 2βωn + Kd ωn Solving gives ωn = ωn
¯ 2
2
¯ 2βωn + Kd ωn = 2βωn + Kd ωn =
(1 + Kp ) and β =
2¯ n
ω
2ωn (1 + Kp ) β+ Kd
2ωn (1 + K p ) . 6. In case the uncontrolled system G(s) in (3) has no damping and a resonance frequency
of 1 rad/s, compute the numerical values Kp and Kd of the PDcontroller to triple the
undamped resonance frequency and bring the damping ratio up to 1/3. [10pt]
No damping...
View
Full
Document
This note was uploaded on 05/27/2010 for the course MAE MAT143B taught by Professor Linearcontrol during the Spring '10 term at UCSD.
 Spring '10
 LinearControl

Click to edit the document details