Handout 4: Root-Locus Review Eric Feron Feb17,2004 Summary of Guidelines for plotting a root-locus 1. Mark Poles X and Zeros O 2. Draw the locus on the real axis to the left of an odd number of real poles plus zeros
Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot
Handout 6: Proportional Compensation Eric Feron Feb25,2004 Plant under study: 1/10 G(s)=(s+1)(s/10+1)2 Compensation Scheme: We adjust the gain K in the feedback loop (draw the feedback loop below)
Handout 12: Plants with right half-plane zeros Eric Feron March 15, 2004 The worst of all (but they exist)! Example: The Star Market vs. Home Depot dilemma Star Market cart: Casters mounted under cart front. used to steer cart rear deviation y from reference lane
Handout 2: Gain and Phase margins Eric Feron Feb6,2004 Nyquist plots and Cauchy's principle Let H(s) be a transfer function. eg H(s)= s2+s+1 (s+1)(s+3) Evaluate H on a contour in the s-plane. (your plots here)
