chapter 11: design via frequency response 1 ©2000, john wiley & sons, inc. nise/control systems...
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©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response1
Chapter 11
Design via Frequency Response
©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
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response3
Figure 11.2System forExample 11.1
©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
©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
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response6
Figure 11.4Visualizing lagcompensation
©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)
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response8
Figure 11.6Bode plots forExample 11.2
©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
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response10
Figure 11.7Visualizing leadcompensation
©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
©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
©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
©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.
©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) =
©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
©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
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response18
Figure P11.1
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response19
Figure P11.2Towed-vehicle rollcontrol
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response20
Figure P11.3
©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.
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
Chapter 11: Design via Frequency Response22
Figure P11.5
©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
©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
©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
©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