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Control sensitivity frequency response
0 0.2 0.4 0.6 0.8 1
10
8
6
4
2
0
2
Step output disturbance response
Time [s]
C
o
n
t
r
o
l
l
e
r
o
u
t
p
u
t
u
(
t
)
The left hand plot shows that the control sensitivity
grows significantly at high frequencies. The input signal
resulting from a unit step disturbance is shown on the
right hand plot. Note that the initial value of the input
is approximately ten times the size of the steady state
input needed to cancel the input.
Goodwin, Graebe, Salgado
(s), given by
where G
(s) =
1
1 +T
o
(s)G
(s)
Goodwin, Graebe, Salgado
o
(s) = 1 e
s
Goodwin, Graebe, Salgado
o
(s) = e
s
Goodwin, Graebe, Salgado
i 1
lim
s0
(A
o
(s)L(s))
= c
0
= 0
lim
s0
(B
o
(s)P(s)) = c
1
= 0
lim
t
e(t) = 0 i 1
0
e(t)dt = 0 i 2
Goodwin, Graebe, Salgado
0
e(t)dt = 0 i 3
Goodwin, Graebe, Salgado
step unit for
s
s S
s E
dt e t e dt t e
s
st
s
e(t)
B
A
A = B
t
Goodwin, Graebe, Salgado
=
0
0 ) ( dt t e
Goodwin, Graebe, Salgado
0
e(t)e
z
0
t
dt =
1
z
0
0
e(t)e
0
t
dt = 0
0
y(t)e
z
0
t
dt = 0
Goodwin, Graebe, Salgado
0
e(t)e
z
0
t
dt = 0
0
e(t)e
0
t
dt =
L(
0
)
0
P(
0
)
Goodwin, Graebe, Salgado
0
e(t) cos
0
tdt = 0
0
e(t) sin
0
tdt =
1
0
e(t) cos
0
tdt = 0
0
e(t) sin
0
tdt = 0
e(t) = 1 y(t)
Goodwin, Graebe, Salgado
u
(t)
c
(t)
h
i
(t) h
e
(t)
i
u
(t)
i
c
(t)
Goodwin, Graebe, Salgado
dt t e t Cos
15
30
t
m.secs
Cos
0
t
Only 2 Possibilities
L e(t) changes sign quickly with large -ve values
or
L e(t) remains large in the period 15-30 msec.
Goodwin, Graebe, Salgado
h(t) =
F(t)
M
+(t)
Goodwin, Graebe, Salgado
h(t) =
V (t)H(t)
v(t)
Goodwin, Graebe, Salgado
+ ) (
0 1 1
0
p s p p
p
Goodwin, Graebe, Salgado
min
u
min
+
u
max
max
u(t)
e
s
+
+
u(t)
Figure 8.11: Combined saturation and slew rate
limit model
Goodwin, Graebe, Salgado
(s) where S
(s) = (1 + T
0
(s)G
(s))
-1
that is, being responsive to reference changes and against
disturbances at frequencies with significant modeling errors,
jeopardizes stability; note that the relative (multiplicative)
modeling error G
usually accumulates phase and magnitude
towards higher frequencies.
(6) Forcing the closed loop faster than unstable zeros, necessarily
causes substantial undershoot.
Goodwin, Graebe, Salgado