Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems...
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Transcript of Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems...
![Page 1: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/1.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response1
Chapter 11
Design via Frequency Response
![Page 2: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/2.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response2
Figure 11.1Bode plots showing gain adjustment for a desired phase margin
![Page 3: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/3.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response3
Figure 11.2System forExample 11.1
![Page 4: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/4.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response4
Figure 11.3Bode magnitudeand phase plotsfor Example 11.1
![Page 5: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/5.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response5
Table 11.1Characteristics of gain-compensated system of Example 11.1
![Page 6: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/6.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response6
Figure 11.4Visualizing lagcompensation
![Page 7: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/7.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response7
Figure 11.5Frequency responseplots of a lag compensator, Gc(s) = (s + 0.1)/(s + 0.01)
![Page 8: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/8.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response8
Figure 11.6Bode plots forExample 11.2
![Page 9: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/9.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response9
Table 11.2Characteristics of the lag-compensated system of Example 11.2
![Page 10: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/10.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response10
Figure 11.7Visualizing leadcompensation
![Page 11: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/11.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response11
Figure 11.8Frequency response of a lead compensator
![Page 12: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/12.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response12
Figure 11.9Bode plotsfor leadcompensation inExample 11.3
![Page 13: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/13.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response13
Table 11.3Characteristics of the lead-compensated system of Example 11.3
![Page 14: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/14.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response14
Figure 11.10a. The Iowa DrivingSimulator;b. test driving thesimulator with itsrealistic graphics
Courtesy of Jim Stoner, The University of Iowa.
![Page 15: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/15.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response15
Figure 11.11Sample frequencyresponse curves for a lag-leadcompensator, Gc(s) =
![Page 16: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/16.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response16
Figure 11.12Bode plots for lag-lead compensation in Example 11.4
![Page 17: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/17.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response17
Table 11.4Characteristics of gain-compensated system of Example 11.4
![Page 18: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/18.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response18
Figure P11.1
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©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response19
Figure P11.2Towed-vehicle rollcontrol
![Page 20: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/20.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response20
Figure P11.3
![Page 21: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/21.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response21
Figure P11.4a. A self-guidedvehicle;b. simplified blockdiagram
Courtesy of Rapistan Demag Corp.
![Page 22: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/22.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response22
Figure P11.5
![Page 23: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/23.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response23
Table 11.1Characteristics of gain-compensated system of Example 11.1
![Page 24: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/24.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response24
Table 11.2Characteristics of the lag-compensated system of Example 11.2
![Page 25: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/25.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response25
Table 11.3Characteristics of the lead-compensated system of Example 11.3
![Page 26: Chapter 11: Design via Frequency Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 11 Design via Frequency Response.](https://reader034.fdocuments.us/reader034/viewer/2022050802/56649ee85503460f94bf94bd/html5/thumbnails/26.jpg)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response26
Table 11.4Characteristics of gain-compensated system of Example 11.4