Fall 2001 6.3117-8 Compensator A-BK-LC 328 10 201 132-8 L 100 C=K=[328] Compensator transfer function G(s)=C(SI-A)-1B全 E 1440-+222 +285+292 Note that the compensator has a low frequency real zero and two higher frequency poles Thus it looks like a"lead"compensatorFall 2001 16.31 17—8 • Compensator: Ac = A − BK − LC = ∙ 0 1 0 0 ¸ − ∙ 0 1 ¸ £ 32 8 ¤ − ∙ 20 100 ¸ £ 1 0 ¤ = ∙ −20 1 −132 −8 ¸ Bc = L = ∙ 20 100 ¸ Cc = K = £ 32 8 ¤ • Compensator transfer function: Gc(s) = Cc(sI − Ac) −1 Bc , U E = 1440 s + 2.222 s2 + 28s + 292 • Note that the compensator has a low frequency real zero and two higher frequency poles. — Thus it looks like a “lead” compensator