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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)...
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- Spring '09