Analytical design methods are of interest when the plant
model is given as a transfer function and the plant parameters are known.
Whereas the pole zero compensator systematic design procedures are
indirect methods based on performance indices and their graphical
interpretation occur in Bode diagrams, the compensator designs
given here are direct methods based on a given transfer function
for the closed loop. First, an introduction into the
specifications of closed-loop transfer functions is given, then the method of
Truxal and Guillemin including different examples of stable,
unstable and non-minimum phase plants is shown. This method is the
basis of a generalised compensator design procedure that can cope
simultaneously both with disturbances and command changes, where
the disturbance can occur at different locations. A comprehensive
example demonstrates the application.
Module objectives. When you have completed this module you should be able to:
Transfer function, performance indices.