Transcript controlkhati 23

‫بسم ا‪ ...‬الرحمن الرحيم‬
‫سیستمهای کنترل خطی‬
‫پاییز ‪1389‬‬
‫دکتر حسین بلندي‪ -‬دکتر سید مجید اسما عیل زاده‬
Design Controller
Via Root Locus
Design Via Root Locus:
We follow the following approaches to study the root locus
based design.
1. cascade compensators to improve the steady state error : PI Controller and
(Phase) Lag Compensator
2. cascade compensators to improve the transient response: PD Controller
and (Phase) Lead Compensator
3. cascade compensators to improve the steady state error and transient
response: PID Controller and (Phase) Lag-Lead Compensator, Notch Filter
1- PI (Proportional and Integral) Controller,
adding an integrator and a zero
Example: PI controller
Example: PI controller
Example: PI controller
Example: PI controller
Example: PI controller
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Example: PI controller
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Example: PI controller
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Example: PI controller
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2- Phase Lag Compensator, adding a pole and a zero
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
Example: Phase Lag compensator
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Example: Phase Lag compensator
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Example: Phase Lag compensator
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Example: Phase Lag compensator
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Example: Phase Lag compensator
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3- PD Compensator, adding a zero
Example: PD controller
Example: PD controller
Example: PD controller
Example: PD controller
Example: PD controller
Example: PD controller
Example: PD controller
Example: PD controller
4- Phase Lead Compensator, adding a pole and a zero
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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Example: Phase Lead compensator
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