You are on page 1of 15

Lecture 13

ELEE3100 - Modern Control Winter 2017


Systems ©Ruth Milman 1
Root Locus All of these
D

#
'
5
-

gives us a sense Ice .

design tools
system
put ok plots behavior as
close Use
Oil .

info
ndps Wwe
zero
. -

'

the loop
analyse
.

te Oil
to
be
see
-

plot Oil .

Poles .

zeros

4
.

al root locus plot


'

or shows
SYSAG
-

a "
possible location C. L .

of
.

c. L .

system .

=
2) Routh Array
when
exact # is for
-
tells us
to
C. L system
Gain causes
.

go unstable .

den in format
C. L system
.

use
.

H den

Koren
Galen
=

from +
.

Toop into .

tracking
into & step ltk input
3) Type
or
disturbance rejection

design

}
.

Plot
4) Bode for
.

use
-

5) Nyquist
in RHP
Pole Zero came
.

95¥46
GCD

&x#
et*)=o
#@2t -

¥750
if z=p

e ( ezt )
almg§¥ bcotwsop
:*
EEK
IPod go
as > =

:±*eo
×
¢9aimfe¥g%m

.to#gk@
×
5.16

n.tn#V3.i=z
.ie#*EgEIea09 ±€ ¥t@
t.lt#IIteIIIiE:It
=-3
=
-6g

ELEE3100 - Modern Control Winter 2017


Systems ©Ruth Milman 2
as '

.EE#qig ,
= 2.2=0 =
,÷o

Oo ( I 10 100


°

In
QQ photos

×zs€5ta
on -

slope
°o°
0.001

.FI?#P=m(9o)-nGo)
.tt#fEEfEa.f.yIItn::EEf/TasEeo

-180°
-180 - -

(m)xf9d
n -

regardless A
ELEE3100 - Modern Control Winter 2017 RHPORLHP .

Systems ©Ruth Milman 3


G 's

z →

opted

¥i¥÷tIIEi
I
,
-1.77
O

'=s§¥s↳¥→f=2s°
.fi#*EEiE:f*IkIj
EEK
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 4
Inset .tk#a
May .

9- #

.at#EEE
÷÷ # z
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 5
(5+2*2)
( 4)
SZS
A
+

RHP complex conj pair ooo

ELEE3100 - Modern Control Winter 2017


Systems ©Ruth Milman 6
evaluate

IT @

5
't
Is
}xµ@←0→s\oRk ons
.

¥t÷÷÷ff±t¥*pi±÷÷÷fi÷t÷÷÷
(3172+3×(7.53+314502))
.at#qnjIsEoFsg(gEo@K@).G+oQ5

#←t⇐¥}8 small

ELEE3100 - Modern Control Winter 2017


Systems ©Ruth Milman 7
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 8
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 9
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 10
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 11
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 12
ELEE3100 - Modern Control Winter 2017
Systems ©Ruth Milman 13

You might also like