This preview shows pages 1–2. Sign up to view the full content.
This preview has intentionally blurred sections. Sign up to view the full version.
View Full Document
Unformatted text preview: following questions: e ss due to a step in r ( d = 0) is: To minimize this error component, n should be. e ss due to a step in d ( r = 0) is: To minimize this error component, n should be. Part 3. ___/18 For controller 3, derive the relationship between , n , and the gains K and K d . ___/12 = + + 2 2 2 n n s s (3) = n (as an expression of K and K d ) (4) = (as an expression of K and K d ) (5) Hint: Increasing K does what to n 2 , what to (and at what rate: linearly, exponentially, as K 2 , etc.) Increasing K d does what to n 2 , what to (and at what rate) Using these equations, show how the pole locations change as K d >0 increases in value. ___/6 Poles = (as an expression of and n ) (6) Discuss: As K d grows, the poles move(remember there are two components of this, depending on the damping)...
View Full
Document
 Spring '09
 H

Click to edit the document details