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Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-1 (p. 433)

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Presentation on theme: "Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-1 (p. 433)"— Presentation transcript:

1 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-1 (p. 433) Controlled process.

2 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-2 (p. 436) Various controller configura- tions in control-system compensation. (a) Series or cascade compensation. (b) Feedback compensation. (c) State-feedback control. (d) Series-feedback compensation (two degrees of freedom). (e) Forward compensation with series compensation (two degrees of freedom). (f) Feed/forward compensation (two degrees of freedom).

3 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-3 (p. 439) Control system with PD controller.

4 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-4 (p. 439) Op-amp circuit realization of the PD controller.

5 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-5 (p. 440) Waveforms of y(t), e(t), and de(t)/dt, showing the effect of derivative control. (a) Unit-step response. (b) Error signal. (c) Time rate of change of the error signal.

6 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-6 (p. 443) Bode diagram of

7 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-7 (p. 445) Root loci of Eq. (10-16).

8 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-8 (p. 446) Root contours of Eq. (10-14) when K P = 0.25 and 1.0; K D varies.

9 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-9 (p. 446) Unit-step response of the attitude control system in Fig with and without PD controller.

10 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 447) K P -versus-K D parameter plane for the attitude control system with a PD controller.

11 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 448) Bode plot of G(s) =

12 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 450) Root contours of s s 2 + (1,204, X 10 9 K D )s X 10 9 = 0.

13 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 452) Unit-step responses of the system in Example 10-2 with PD controller.

14 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 453) Bode diagram of G(s) of system in Example 10-2 with PD controller.

15 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 454) Control system with PI controller.

16 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 455) Op-amp-circuit realization of the PI controller. (G c (s) = (a) Two-op-amp circuit. (b) Three-op-amp circuit.

17 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 456) Pole-zero configuration of a PI controller.

18 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 457) Bode diagram of the PI controller. G c (s) = K P +

19 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 460) Root loci of Eq. (10-37)with K 1 /K P = 10; K P varies.

20 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 461) Unit-step responses of the system in Example 10-3 with PI control. Also, unit-step response of the system in Example 10-1 with PD controller.

21 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 462) Bode plots of control system in Example 10-3 with PI controller. G(s) =

22 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-22(a) (p. 465) (a) Root loci of control system in Example 10-4 with PI controller K 1 /K P = 2, 0  K P < .

23 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10-22(b) (p. 466) (b) Bode plots of control system in Example 10-4 with PI control.

24 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 467) Unit-step response of system with PI controller in Example G(s) =

25 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 470) Step responses of system in Example 10-5 with PD, PI, and PID controllers.

26 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 471) Bode plot of system in Example 10-5 with PD and PID controllers.

27 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 472) Op-amp circuit implementation of G(s) =

28 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 473) Pole-zero configuration of the phase-lead controller.

29 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 474) Bode plot of phase-lead controller G c (s) =

30 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 476) Block diagram of sun-seeker control systems.

31 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 477) Unit-step response of sun-seeker system in Example 10-6.

32 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 478) Root contours of the sun-seeker system with a = 0, and T varies from 0 to .

33 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 479) Root contours of the sun-seeker system with a phase-lead controller.

34 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 481) Bode diagram of phase-lead compensation and uncompensated system in Example 10-6, G(s) =

35 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 482) Plots of G(s) in the Nichols chart for the system in Example G(s) =

36 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 485) Root contours of sun-seeker system in Example 10-7 with phase-lead controller G(s) =

37 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 486) Unit-step responses of sun-seeker system in Example 10-7 with phase- lead controller. G c (s) =

38 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 487) Bode plots of phase-lead controller and forward-path transfer function of sun-seeker system in Example G c (s) =

39 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 490) Two-stage phase-lead (phase-lag) controller.

40 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 491) Bode plots of uncompensated and compensated sun-seeker systems in Example 10-7 with two-sate phase-lead controller. G P (s) =

41 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 493) Unit-step responses of sun-seeker system in Example 10-7 with two-stage phase-lead controller.

42 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 494) Sensitivity functions of sun-seeker system in Example 10-7.

43 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 495) Pole-zero configuration of phase-lag controller. G c (s) =

44 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 496) Design strategies for phase-lag control for type 0 and type 1 systems.

45 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 497) Root loci of uncompensated and phase-lag-compensated systems.

46 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 498) Bode diagram of the phase-lag controller. G c (s) =

47 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 500) Root loci of sun-seeker system in Example 10-9.

48 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 501) Unit-step responses of uncompensated and compensated sun-seeker systems with phase-lab controller in Example G P (s) =

49 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 502) Root contours of sun-seeker system in Example 10-9 with phase-lag controller.

50 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 504) Bode plot of uncompensated and compensated systems with phase-lag controller in Example G c (s) = G p (s) =

51 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 505) Root loci of uncompensated system in Example G P (s) =

52 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 506) Sensitivity function of phase-lag-compensated system in Example

53 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 508) Sun-seeker system in Example with single-stage phase-lag controller, lead-lag controller, and two-stage phase-lead controller.

54 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 510) Pole-zero configuration and root loci of inexact cancellation.

55 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 511) Root loci showing the effects of inexact pole-zero cancellations.

56 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 512) Op-amp circuit realization of the second-order transfer function.

57 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 513) Bode plot of a notch controller with the transfer function. G(s) =

58 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 514) Block diagram of speed-control system in Example

59 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 516) Unit-step responses of speed-control system in Example

60 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 518) Bode plots of uncompensated speed- control system in Example with notch controller and with notch-PI controller. G c (s) =

61 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 519) Unit-step responses of speed-control system in Example with notch- PI controller. G c (s) =

62 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 521) (a) Forward compensation with series compensation. (b) Feedforward compensation with series compensations.

63 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 521) Control system with disturbance.

64 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 523) Unit-step responses of second-order sun-seeker system with phase-lag controller. G(s) =

65 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 524) Root loci of second-order sun-seeker system with phase-lag controller. G(s) =

66 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 525) Root loci of second-order sun-seeker system with robust controller. G(s) =

67 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 525) Second-order sun-seeker system with robust controller and forward controller.

68 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 526) Unit-step responses of second-order sun-seeker system with robust controller and forward controller.

69 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 526) Amplitude Bode plot of response due to noise of second-order sun-seeker system.

70 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 528) Root loci of third-order sun-seeker system with robust and forward controllers.

71 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 529) Root loci of position-control system in Example with robust and forward controllers.

72 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 531) Control system with tachometer feedback.

73 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 532) (a) Sun-seeker control system with minor-loop control. (b) Op-amp circuit realization of

74 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 533) Root contours of Ts 3 + (25T + 1)s 2 + ( K t T)s = 0, K t = 0.02

75 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 534) Block diagram of control system with state feedback.

76 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 535) Control of a second-order system by state feedback.

77 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 537) (a) State diagram of magnetic-ball suspension system. (b) State diagram of magnetic-ball-suspension system with state feedback.

78 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 538) Output response of magnetic-ball suspension system with state beedback, subject to initial condition y(0) = x 1 (0) = 1.

79 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 539) (a) State diagram of second-order sun-seeker system. (b) State diagram of second-order sun-seeker system with state feedback.

80 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 540) Block diagram of control system with state feedback and integral output feedback.

81 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 542) Sun-seeker system with state feedback and integral control in Example

82 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 544) DC motor control system with state feedback and integral control and disturbance torque in Example

83 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 545) Time responses of dc-motor control system with state feedback and integral control and disturbance torque in Example

84 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 546) The control system with unity feedback for Example

85 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 547) Controller Design main window.

86 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 547) Controller Design main window showing the closed-loop transfer function.

87 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 548) (a) Root locus of Eq. (7-201); (b) G and H poles and zeros.

88 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 549) (a) Unit-step response of Eq. (7-201) for K = 1; (b) poles and zeros of (7-201) for K = 1.

89 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 550) (a) Using the Design Constraints option for Example (b) Settling time < and percent overshoot < 4.33.

90 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 551) The root-locus diagram for Example 10-22, after incorporating the percent overshoot and the settling time as design constraints.

91 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 552) Addition of a zero to the controller C(s) to create a PD controller.

92 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 553) The root-locus diagram for Example 10-22, after incorporating a zero in the PD controller at –1/

93 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 554) (a) The root-locus diagram, (b) the closed-loop poles for Example after incorporating a zero in the PD controller at –1/ and using a gain of 181.

94 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 555) Step response of the system of Example with a PD controller, C(s) = 181 (s + 1/ ).

95 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 555) The loop magnitude and phase diagrams in the frequency-domain SISO Design Tool for Example

96 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 556) The loop magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/ and a gain of K =

97 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 556) The loop magnitude and phase diagrams and the root locus for Example 10-22, after incorporating a zero in the PD controller at –1/ and a gain of K =

98 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure (p. 557) The closed-loop, unit-step, and magnitude and phase diagrams for Example 10-22, after incorporating a zero in the PD controller at –1/ and a gain of K =

99 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-3 (p. 560)

100 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-6 (p. 561)

101 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-8 (p. 561)

102 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-12 (p. 562)

103 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-13 (p. 562)

104 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-15 (p. 563)

105 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-17 (p. 564)

106 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-18 (p. 564)

107 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-19 (p. 565)

108 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-25 (p. 567)

109 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-29 (p. 569)

110 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-30 (p. 570)

111 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-32 (p. 571)

112 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-33 (p. 571)

113 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-34 (p. 571)

114 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-35 (p. 572)

115 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-36 (p. 572)

116 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-37 (p. 572)

117 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-38 (p. 573)

118 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-40 (p. 574)

119 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-41 (p. 574)

120 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-42 (p. 575)

121 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-43 (p. 575)

122 Automated Control Systems, 8/E by Benjamin C. Kuo and Farid Golnaraghi Copyright © 2003 John Wiley & Sons. Inc. All rights reserved. Figure 10P-46 (p. 577)


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