EE3064: Feedback Control
Lecture Notes (Week 11)
Steps of Drawing Bode Diagrams
1. Rewrite the transfer function in Bode form. As an example:
G(s) = K0
Break points:
1
1
1 , 2 ,
.,
1
1
a , b ,
(1 s + 1)(2 s + 1)
sn (a s + 1)(b s + 1)
(1)
.
2. Determine
EE3064: Feedback Control
Review (Week 9.2)
1. Modeling
Dierential equations
to directly represent the dynamics of the systems
Laplace Transform
Transfer functions
Block Diagram
Calculate closed-loop transfer functions
2. Dynamic Response
Laplace Tran
EE3064: Feedback Control
Lecture Notes (Week 9)
Root Locus
b
b
The (positive) root locus for 1 + K a(s) = 0 is the set of values of s satisfying 1 + K a(s) = 0 for
(s)
(s)
K [0, +), where a(s) and b(s) are polynomials of s.
The characteristic equation of
EE3064: Feedback Control
Lecture Notes (Week 9.2)
Guidelines for Root Locus Based Lead Compensator Design
Objective: Choose p, z and K such that the dominate pair of closed-loop poles are s and s .
2
1
1. Choose p satisfying p > 5|s | = 5|s |. Practically