Order from us for quality, customized work in due time of your choice.
Part 4: Frequency Domain Compensator Design
Objective
Here you will use Bode p
Part 4: Frequency Domain Compensator Design
Objective
Here you will use Bode plots and Nyquist plots to determine the stability and robustness of a
design.
4.1 Analysis in Frequency Domain
1. Plot the Bode plot for the open loop system with the disk as the output.
Is it stable?
How much gain K will destabilize it, if K comes from a proportional feedback controller
with unitary feedback?
2. Plot the Nyquist plot for the open loop system.
What does this tell you about the system stability?
Print the Nyquist plot and Bode plot and draw the gain margin and the phase margin into
both plots for a particular value of K (a value close to what you used when you first
stabilized this system with a proportional controller).
4.2 Lead Compensator Design
1. Design a Lead compensator for the system and plot its root locus and Bode diagram.
What is the associated gain margin (GM) and phase margin (PM)?
How could you change your Lead controller to improve your margins?
Can you do so while simultaneously increasing your overall system gain?
2. Can you improve upon your PID controller performance? In particular, make sure that you
maintain your gain and phase margin at the reasonable level” you just determined. Test your
design in simulation. What do you think are limits on the performance that this system can achieve?
3. What is the gain margin and phase margin for your final controller design?
Order from us for quality, customized work in due time of your choice.