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Lecture 23 – Freq. Domain Compensator Design

Lecture 23 – Freq. Domain Compensator Design. Review:. Review (cont.). Lead Compensator Design in Freq. Domain. What’s wrong with using Gc(s) = K to meet gain and phase margin specs? Form of the Lead Compensator:. Lead Compensator Design in Freq. Domain. Let’s look at a Bode Plot of.

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Lecture 23 – Freq. Domain Compensator Design

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  1. Lecture 23 – Freq. Domain Compensator Design • Review: EE571

  2. Review (cont.) EE571

  3. Lead Compensator Design in Freq. Domain • What’s wrong with using Gc(s) = K to meet gain and phase margin specs? • Form of the Lead Compensator: EE571

  4. Lead Compensator Design in Freq. Domain • Let’s look at a Bode Plot of EE571

  5. Lead Compensator Design in Freq. Domain • Parameters which need to be designed: • Procedure: • Pick Kc(s) to meet ess specs • Lump Kc(s) in with G(s) and make Bode Plot of KcG(s) • Measure gain and phase margins • Choose m such that: • Find  where • Find frequency cgnew where • Solve for T • Go back EE571

  6. Lead Compensation Example • G(s) = 4/(s+2) • Specs: ess|ramp = 1/40 • gm > 10 dB • pm  50o EE571

  7. Lead Compensation Example EE571

  8. Lead Compensation Example • Matlab Code: EE571

  9. Lead Compensator Design in Freq. Domain • Form of Lag Compensator: • How the heck can we insert a lag compensator and improve stability?????? • Idea: • Parameters which need to be designed: EE571

  10. Lag Compensator Design in Freq. Domain • Parameters which need to be designed: • Procedure: • Pick Kc(s) to meet ess specs • Lump Kc(s) in with G(s) and make Bode Plot of KcG(s) • Measure gain and phase margins • Find frequency cgnew where • Set  where • Set 1/T • Go Back EE571

  11. Lag Compensation Example • G(s) = 4/(s+2) • Specs: ess|ramp = 1/40 • gm > 10 dB • pm  50o EE571

  12. Lag Compensation Example • Matlab Code: EE571

  13. Lag Compensation Example EE571

  14. Differences in the Lead and Lag Design • Classic 2nd Order System: • Relationship Between Bandwidth and Settling Time: EE571

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