Frequency Domain Design

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Chapter 12 - Frequency Domain Design

Next: Robust Performance

[[Image:{{{Short name}}}-firstpage.png|right|thumb|link=https:www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-{{{Short name}}}_24Jul2020.pdf]] 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 fre- quency domain. Additional techniques discussed in this chapter include feedforward compensation, the root locus method, and nested controller design.

Contents

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

Exercises