S nonminimum phase zeros of cf s unstable poles of cb

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Unformatted text preview: design: split with Cb .s/ D 2500 s 2 10:2sC72:25 72:25 s 2 C70sC2500 (contd) Tref .s/ Ta .s/ For D 1 (chosen to remain with the same settling time) and K.s/ D 7 we have: Bode diagrams of T .s/ and Ta .s/K.s/ 0 -5 -10 Magnitude (dB) Output responses to step reference (T .s/ and Ta .s/K.s/) 1 0.8 0.6 Amplitude 1 2 3 -15 -20 -25 0.4 0.2 -30 -35 -40 0 10 0 10 10 Frequency (rad/sec) 10 -0.2 0 0.5 1 Time (sec) 1.5 2 Much better transients. . ....
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