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Unformatted text preview: r k u(0) = k. ⇒ More control effort k u(t) y(t) k=10
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
k (s − 1)
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.
- Winter '09