Lab2b - ECE 238 Spring 2010 Lab 2b : Frequency-Domain...

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ECE 238 Spring 2010 Lab 2b : Frequency-Domain Control Design Due: Monday, April 19 (with Lab2a from 4/7/2010) Topics: Position control of motor-driven cart Loop shaping design of a compensator (lead-lag) Integrator wind-up Relation between transfer function (bandwidth; integral action) and time response Procedure: Design a lead-lag compensator, + + + = ) ( ) ( ) ( ) ( lead lead lead i p s z s K s K s s C , for the motor-cart system you analyzed last week in lab. You may use your own model for the plant, or you may simply assume: ) 10 ( 24 . 1 ) ( + = s s s P Your design specifications are to achieve a forward path, ) ( ) ( ) ( s P s C s G = , where: 50 = co ω (rad/s) [crossover frequency] and ° = 45 m φ [phase margin]. Deliverables: Questions 1-6 can be done in groups. 7 must be completed individually. 1. Solve for i K , lead , lead z , and lead p . K 2. On a single MATLAB plot, show both the negative loop transmission,
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Lab2b - ECE 238 Spring 2010 Lab 2b : Frequency-Domain...

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