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سیستمهای کنترل خطی پاییز 1389 بسم ا... الرحمن الرحيم دکتر حسين بلندي - دکتر سید مجید اسما عیل زاده.

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Presentation on theme: "سیستمهای کنترل خطی پاییز 1389 بسم ا... الرحمن الرحيم دکتر حسين بلندي - دکتر سید مجید اسما عیل زاده."— Presentation transcript:

1 سیستمهای کنترل خطی پاییز 1389 بسم ا... الرحمن الرحيم دکتر حسين بلندي - دکتر سید مجید اسما عیل زاده

2 Design Controller Via Root Locus

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7 Design Via Root Locus: We follow the following approaches to study the root locus based design. 1. cascade compensators to improve the steady state error : PI Controller and (Phase) Lag Compensator 2. cascade compensators to improve the transient response: PD Controller and (Phase) Lead Compensator 3. cascade compensators to improve the steady state error and transient response: PID Controller and (Phase) Lag-Lead Compensator, Notch Filter

8 1- PI (Proportional and Integral) Controller, adding an integrator and a zero

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11 Example: PI controller

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15 15 Example: PI controller

16 16 Example: PI controller

17 17 Example: PI controller

18 18 Example: PI controller

19 2- Phase Lag Compensator, adding a pole and a zero

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23 Example: Phase Lag compensator

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34 34 Example: Phase Lag compensator

35 35 Example: Phase Lag compensator

36 36 Example: Phase Lag compensator

37 37 Example: Phase Lag compensator

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41 3- PD Compensator, adding a zero

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45 Example: PD controller

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53 4- Phase Lead Compensator, adding a pole and a zero

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55 55 Example: Phase Lead compensator

56 56 Example: Phase Lead compensator

57 57 Example: Phase Lead compensator

58 58 Example: Phase Lead compensator

59 59 Example: Phase Lead compensator

60 60 Example: Phase Lead compensator

61 61 Example: Phase Lead compensator


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