MECH 466 - Lecture8-TimeDomainSpecsandSteadyStateError-2009W

Accurate tracking steady cl system of type 2 cl for

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Unformatted text preview: on Characteristic For ramp r(t) For r(t) CL system is NOT stable for any K. CL e(t) will not converge. (Don’t use today’s results e(t) (Don’ today’ if CL system is not stable!!!) For parabolic r(t) For r(t) 2008/09 MECH466 : Automatic Control 23 2008/09 MECH466 : Automatic Control 24 6 Example 2 Example 3 CL system of type 1 CL CL system of type 2 CL By Routh-Hurwitz criterion, CL is stable iff By RouthStep r(t) Step r(t) By Routh-Hurwitz criterion, we can show that CL By Routhsystem is stable. Step r(t) Step r(t) Ramp r(t) Ramp r(t) Ramp r(t) Ramp r(t) Parabolic r(t) Parabolic r(t) Parabolic r(t) Parabolic r(t) 2008/09 MECH466 : Automatic Control 25 2008/09 A control example MECH466 : Automatic Control 26 Summary and Exercises Time response and time domain specifications Time Steady-state error SteadyFor unity feedback (STABLE!) systems, CL system For type determines if the steady-state error is zero. steadyThe key tool is the final value theorem! The theorem! Closed-loop stable? ClosedCompute error constants Com...
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