Difference between revisions of "Frequency Domain Design"
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|Next chapter=Robust Performance | |Next chapter=Robust Performance | ||
| − | |First edition URL= | + | |First edition URL=https://www.cds.caltech.edu/~murray/amwiki/index.php?title=Frequency_Domain_Design#Frequently_Asked_Questions |
|Chapter summary=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 summary=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=# Sensitivity Functions | |Chapter contents=# Sensitivity Functions | ||
Revision as of 21:35, 28 August 2021
| 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.
Contents
- Sensitivity Functions
- Performance Specifications
- Response to Reference Signals
- Response to Load Disturbances and Measurement Noise
- Measuring Specifications
- Feedback Design via Loop Shaping
- Design Considerations
- Lead and Lag Compensation
- Feedforward Design
- Combining Feedforward and Feedback
- Difficulties with Feedforward
- Approximate Inverses
- The Root Locus Method
- Design Example
- Further Reading
- Exercises