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l39 - Insight about dynamics x± Nyquist-Use to check...

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Bode Design Guidelines (vdv 8.4) 1. Relative stability: -20 dB/dec slope at or near crossover (only if no RHP zeroes). 2. Steady-state accuracy: low-frequency asymptote 3. Accuracy in operating range: typically need at least 20dB over appropriate frequencies 4. Crossover frequency: is a measure of bandwidth and thus speed of response. Z | 0.635 Z . Behavior away from crossover c b is known: C G G G G ? 1, M dB ? 0, c | 1 c R 1 ± G G c C G G G G = 1, M dB = 0, c | G G c c R 1 ± G G c 5. Noise rejection: need small M for high frequencies, keep dB bandwidth low.
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Control Design Methods: Root Locus - Need system pole-zero pattern - Often a good place to start
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Unformatted text preview: Insight about dynamics x± Nyquist -Use to check stability x± State-Space - Full state feedback x± Nichols Chart - System must be open-loop stable x± Bode - Most commonly used - System must be open-loop stable Quanser frequency response: Quanser frequency response data: Quanser: frequency response data Uncompensated Quanser system 250 ( ) G s (s+10)(s+0.086-1.14j)(s+0.086+1.14j) Quanser + PI 250 0.2(1+2.5s) ( ) G s G s ( ) c (s+10)(s+0.086-1.14j)(s+0.086+1.14j) s Quanser + PI + lag-lead 250 0.2(1+2.5s)(1+1.2s) ( ) G s G s ( ) c (s+10)(s+0.086-1.14j)(s+0.086+1.14j) s(1+0.05s)...
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