Frequency Domain Design

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Prev: PID Control Chapter 12 - Frequency Domain Design Next: Robust Performance

In this chapter we continue to explore the use of frequency domain techniques with a focus on the design of feedback systems. We begin with a more thorough description of the performance specifications for control systems and then introduce the concept of “loop shaping” as a mechanism for designing controllers in the frequency domain. Additional techniques discussed in this chapter include feedforward compensation, the root locus method, and nested controller design.

Chapter contents

PDF (24 Jul 2020)

  1. Sensitivity Functions
  2. Performance Specifications
    • Response to Reference Signals
    • Response to Load Disturbances and Measurement Noise
    • Measuring Specifications
  3. Feedback Design via Loop Shaping
    • Design Considerations
    • Lead and Lag Compensation
  4. Feedforward Design
    • Combining Feedforward and Feedback
    • Difficulties with Feedforward
    • Approximate Inverses
  5. The Root Locus Method
  6. Design Example
  7. Further Reading

Teaching Materials

Supplemental Information