Fall 2001 163115-4 Another approach is to select the poles to match the nn polyno- mial that was designed to minimize the itae "integral of the time multiplied by the absolute value of the error JItae t e(tl dt in response to a step function Both bessel and itae are tabulated in FPE-508 Comparison for k=3(Given for wo 1 rad/sec, so slightly different than numbers given on previous page d=(s+0.920)(s+0.7465±07112) o4B=(s+0.7081)(s+0.5210±1.068 So the itae poles are not as heavily damped Some overshoot Faster rise-times Problem with both of these approaches is that they completely ig. nore the control effort required the designer must iterateFall 2001 16.31 15—4 • Another approach is to select the poles to match the nth polyno￾mial that was designed to minimize the ITAE “integral of the time multiplied by the absolute value of the error” JIT AE = Z ∞ 0 t |e(t)| dt in response to a step function. • Both Bessel and ITAE are tabulated in FPE-508. — Comparison for k = 3 (Given for ω0 = 1 rad/sec, so slightly different than numbers given on previous page) φB d = (s + 0.9420)(s + 0.7465 ± 0.7112i) φIT AE d = (s + 0.7081)(s + 0.5210 ± 1.068i) • So the ITAE poles are not as heavily damped. — Some overshoot — Faster rise-times. • Problem with both of these approaches is that they completely ig￾nore the control effort required — the designer must iterate