# Gs angle condition angle odd number if angle

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Unformatted text preview: G(s) Angle condition Angle Odd number If angle condition is satisfied, angle compute the corresponding K. o In this example, o For a point on root locus, gain K is obtained by For Magnitude condition Magnitude Angle condition is not satisfied. Im Re Angle deficiency 2008/09 MECH466 : Automatic Control 7 2008/09 MECH466 : Automatic Control 8 2 Lead compensator design (cont’d) To compensate angle deficiency, design a lead compensator C(s) C(s) satisfying How to select pole and zero? Draw horizontal line PA Draw Draw line PO Draw Draw bisector PB Draw Im Desired pole A P Desired pole Im Draw PC and PD Draw Re B O C D Re Re There are many ways to design such C(s)! C(s)! 2008/09 MECH466 : Automatic Control 9 -p(=-5.4) -z(=-2.9) p(=z(=Pole and zero of C(s) are shown in the figure. Pole C(s) 2008/09 Comparison of root locus G(s) G(s) 10 How to design the gain K? G(s)C(s) G(s)C(s) Im MECH466 : Automatic Control Lead compensator Lead Im Open loop transfer function Open Re Re Magnitude condition Magnitude Improved stability! 2008/09 MECH466 : Automatic Control...
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