Rening the root locus sketch
We have covered the rules for a rapid sketch
of the root locus. For full use of the sketch we
need to calculate the points of interest of the
sketch, point on the real axi
Analysis of the Continuous Linear System
Through the design in project 1, the plant with the servo system was calculated as
12.88
. Figure 1 shows the frequency response of this system.
s + 6.5s 3 + 2
A1
Appendix A
Design of Continuous-Time System
Transfer Function and Kp/Kv Derivation:
KpAm
AmKp
AmKp
Tm
= Tm * s + AmKv + 1 =
=
2
AmKp
AmKv + 1 AmKp
d
Tm * s + ( AmKv + 1) * s + AmKp
1+
s 2 + s(
)+
T
Page: 1
Project 1
EE 4002
Alicia Corbett
Michael Dantin
Scott Hammatt
Patrick Quebedeaux
Introduction
The first logical step in designing a feedback controller for the ball and beam
system is to analy
Page: 1
Project 1
EE 4002
Alicia Corbett
Michael Dantin
Scott Hammatt
Patrick Quebedeaux
Introduction
The first logical step in designing a feedback controller for the ball and beam
system is to analy
J ohnnyLara
EE4002
DesignProject2:
DigitalControlofthe
BallBeamSystem
M ay3,2004
Introduction
The purpose of this project is to gain experience and knowledge of the
performance of an uncompensated sy
Page: 1
Karrie Hugghins
Patrick Quebedeaux
Matthew Bull
EE 4580
Report 1 of Design Project 1
September 12, 2003
Executive Summary
The first logical step in designing a feedback controller for the ball
Page: 1
Project 1
EE 4002
Alicia Corbett
Michael Dantin
Scott Hammatt
Patrick Quebedeaux
Introduction
The first logical step in designing a feedback controller for the ball and beam
system is to analy
J ohnnyLara
EE4002
DesignProject2:
DigitalControlofthe
BallBeamSystem
M ay3,2004
Introduction
The purpose of this project is to gain experience and knowledge of the
performance of an uncompensated sy
Page: 1
EE-4580 CONTROL DESIGN
PROJECT 2- BALL AND BEAM SYSTEM
JASON MCALLISTER
438-49-4726
11-17-04
Page: 2
Project Summary
Our goal is to design two compensators: one for the actuator which is a D.C
The take home part of the second midterm is:
Deasign dynamic compensator for
(s + 5)
G(s) = -
s(s^2 + s + 10)
such that the closed loop system has overshot
no more than 15%, settling time no more
Jason McAllister
November 29, 2004
UNCOMPENSATED SYSTEM
Step Response
1.4
1.2
System: Closed Loop: r to y
I/O: r to y
Settling Time (sec): 9.96
1
System: Closed Loop: r to y
I/O: r to y
Peak amplitude
Angles of departure and arrival
Looking at the open loop poles and zeros
below, the root locus starts at the poles and
ends at zeros but at what angles?
j
Taking a point () close to a complex pole.
Designing via root locus
We have seen how a root locus graphically
displays stability information, in addition root
locus can also display the transient response of
a system.
j
closed loop pole
open
Improving transient response
Again, we will study two techniques, placing
a pure dierentiator in the forward path, and
placing a zero and more distant pole.
Ideal derivative compensation (PD)
The tra
Types of electrical noises
(i) Johnson Noise
Johnson noise occurs in any device that dissipates power, such as resistor,
hence it is very common. Principle of equipartition of energy states: For a
sys
Signals
Signal a transmitted effect conveying a message
A essential characteristic of a signal is that of change, since it must be
capable of carrying information.
The change must be partly unpredicta
EE4580 Test Fall 2004
Suppose that the plant model is given by
G(s) =
10(s + 1)(s + 10)
.
s(s2 + s + 25)
1. Sketch straightline approximation for magnitude Bode plot.
2. Find errors at corner frequenc
Design Project 1 for EE4580
As in the distributed notes, the linearized model for inverted pendulum consists of two
transfer functions. We aim to design Gyu (s) and Gu (s) such that the dominant dynam
EE-4580 CONTROL DESIGN
PROJECT 1- INVERTED PENDULUM
JASON MCALLISTER
438-49-4726
10-18-04
Introduction:
In this project we have analyzed an inverted pendulum. This is a system which has both
an angle
Iterative Design Algorithm
We consider an iterative design method:
(a) Design zy , z , and Ky > 0, such that the three zeros of
(s) = 0 are in the right locations.
z
5.67
zy
5.67
(b) Design Kgy and
Course Title:
Control System Design.
Course Number:
EE4580 | Fall 2002.
Instructor:
Dr. Guoxiang Gu, ECE 329, Tel : 578-5534, Email: [email protected]
O ce Hour:
7:30 10:00 AM M. W. at ECE 329.
Estimate