lecture11

Lecture11 - MAE 171A Dynamic Systems Control Lecture 11 Control Design Using Root Locus Goele Pipeleers Situation In Lecture 10 • P D I PD PID

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Unformatted text preview: MAE 171A: Dynamic Systems Control Lecture 11: Control Design Using Root Locus Goele Pipeleers Situation In Lecture 10 • P, D, I, PD, PID controllers • analysis of their advantages and disadvantages In Lecture 11: Root Locus • problem formulation • basic characterization • 4 root locus drawing rules In This Lecture • controller design using root locus 1 Additional Controller Structures Lead Compensator • D ( s ) = K s + z s + p , where z < p • variation of the PD controller: – D ( s ) = k s + z z + p = K p s + z s/p + 1 – let p → ∞ and adjust K = k d p to preserve DC-gain, then D ( s ) ≈ k d ( s + z ) • improves the transient response 2 Lag Compensator • D ( s ) = K s + z s + p , where p < z • variation of the PI controller: – let p → , then D ( s ) ≈ k 1 + z s • improves the steady-state response 3 Control Design Problem D ( s ) G ( s ) u y w r v Problem: given the system G ( s ) , compute a controller D ( s ) such that a set of specifications are met 4 Example Used Throughout This Lecture D ( s ) G ( s ) u y r e • system G ( s ) = 1 s (...
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This note was uploaded on 08/08/2011 for the course MAE 171 taught by Professor Pipeleers during the Summer '11 term at UCLA.

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Lecture11 - MAE 171A Dynamic Systems Control Lecture 11 Control Design Using Root Locus Goele Pipeleers Situation In Lecture 10 • P D I PD PID

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