Y gd k s 1 r 1 gd k 1s 1 k the pole is p k

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Unformatted text preview: r k u(0) = k. ⇒ More control effort k u(t) y(t) k=10 k=20 k=10 k=20 1/(k+1) t t Trade-off: Large k gives better tracking performance, but k cannot be too large to stay within the capacity of the actuator. 5 Example 5.3 G(s) = Case 1: D(s) = k. s−1 , s+1 Nonminimum phase (NMP): plants with RHP zero. Y GD k (s − 1) = = R 1 + GD (k + 1)s + 1 − k The pole is p = k −1 k+1 . So, the closed-loop system is stable for 1 > k > −1. The closed-loop system is NMP Case 2: D(s) = ⇒ undershoot ⇒ Not good for tracking. k . (Try to cancel the RHP zero in the...
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This note was uploaded on 01/27/2014 for the course MAE 171A taught by Professor Idan during the Winter '09 term at UCLA.

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