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Unformatted text preview: following questions: e ss due to a step in ω r (τ d = 0) is: To minimize this error component, n should be…. e ss due to a step in τ d (ω r = 0) is: To minimize this error component, n should be…. Part 3. ___/18 For controller 3, derive the relationship between ζ, ω n , and the gains K and K d . ___/12 = + + 2 2 2 n n s s ξϖ (3) = n (as an expression of K and K d ) (4) = ξ (as an expression of K and K d ) (5) Hint: Increasing K does what to ω n 2 , what to ζ (and at what rate: linearly, exponentially, as K 2 , etc.) Increasing K d does what to ω n 2 , what to ζ (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 ζ and ω 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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This note was uploaded on 03/28/2011 for the course ECE 486 taught by Professor H during the Spring '09 term at University of Illinois at Urbana–Champaign.
 Spring '09
 H

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