14 - Lecture 14: Deadbeat Compensator Design Deadbeat...

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1 Lecture 14: Deadbeat Compensator Design Deadbeat Compensator Design Ripple-Free Compensator Design Review of Direct Design Method Given a plant with Find a desired closed-loop transfer function to satisfy Time characteristics specifications: via design of denominator polynomial of H ( z ) Steady-state tracking error specification Causality of D ( z ): H ( z ) has delay at least the same as G ( z ) Stability: no unstable zero/pole cancellation Compute the compensator D ( z ) directly: C ( s ) G ( s ) R ( s ) T + ¡ D ( z ) G ( z ) = Z [ G ( s )] C ( z ) R ( z ) = H ( z ) D ( z ) = 1 G ( z ) H ( z ) 1 ¡ H ( z )
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2 Finite Settling Time Compensator Design The “best” closed-loop transfer functions are of the form: Output c ( kT ) is then just a delay of input r ( kT ) by k sample periods No steady-state tracking error for unit step input Settling time of c ( kT ) is then at most k sample periods Due to causality constraint, k is at least the delay present in
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This note was uploaded on 04/15/2011 for the course ECE 483 taught by Professor Evens during the Spring '08 term at Purdue University-West Lafayette.

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14 - Lecture 14: Deadbeat Compensator Design Deadbeat...

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