Fall 2001 6.3117-9 Plant G Freq(rad/sec) PAT= -200 Figure 1: Plant is pretty simple and the compensator looks like a lead 2-10 rads/ Freq(rad/sec) Figure 2: Loop transfer function L(s) shows the slope change near 'c=5 rad sec. Note that we have a large PM and GmFall 2001 16.31 17—9 10−1 100 101 102 103 100 101 102 Freq (rad/sec) Mag Plant G Compensator Gc 10−1 100 101 102 103 −200 −150 −100 −50 0 50 Freq (rad/sec) Phase (deg) Plant G Compensator Gc Figure 1: Plant is pretty simple and the compensator looks like a lead 2—10 rads/sec. 10−1 100 101 102 103 100 101 102 Freq (rad/sec) Mag Loop L 10−1 100 101 102 103 −280 −260 −240 −220 −200 −180 −160 −140 −120 Freq (rad/sec) Phase (deg) Figure 2: Loop transfer function L(s) shows the slope change near ωc = 5 rad/sec. Note that we have a large PM and GM