filled9 - ME 475 Handouts - Spring 2011 Control Design To...

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ME 475 Handouts - Spring 2011 1 Slide 1 ME 475 Session 9: Intro. to Root Locus Galen King Purdue University Control Design To achieve desired performance, we need to design appropriate controllers G c for: steady-state error - include free integrators in G c transient response - place closed-loop poles in desired regions of the s-plane stability - ensure that all closed-loop poles have negative real part and there is no RHP pole/zero cancellation Slide 2 ME 475 Session 9: Intro. to Root Locus Galen King Purdue University Control Design To achieve proper pole placement, it would be nice to see how the choice of G c directly affects pole location. We have such a technique:
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2 Slide 3 ME 475 Session 9: Intro. to Root Locus Galen King Purdue University Motor Position Control Example We are interested in picking K to give desired transient response. We want to see where the closed-loop poles can be placed as a function of K. K θ d (s) θ (s) Controller Motor + - E(s) U(s) ) 1 s ( s 1 + Slide 4 ME 475 Session 9: Intro. to Root Locus Galen King Purdue University Motor Position Control Example char. eq. = θ
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filled9 - ME 475 Handouts - Spring 2011 Control Design To...

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