Extra material:
Graphical User Interfaces illustrating compensation in frequency domain (matlab)

designk.m varierande förstärkning K

designlagnew.m fasretarderande länk = lag-design: K(s+a)/(s+a/M)

designleadnew.m fasavancerande länk = lead-design: K_k (s+b)/(s+bN)

designleadlagnew.m (båda samtidigt, med M=infty): K(s+a)/s * (s+b)/(s+bN)

The code lets you experiment with compensation in the frequency domain, and helps you get familiar with the different diagrams.

Download the code to your computer, start matlab and run e.g. designlagnew.m to get at GUI with 3 sliders that change the K, a, and M parameters in a lag design, see below. The blue curve corresponds to the $LaTeX: \textcolor{blue}{\textrm{original system }G(s)}$ (on the lecture called LaTeX: G_0(s) ) and the red curve corresponds to the $LaTeX: \textcolor{red}{\textrm{compensated system }C(s)G(s)}$ (on the lecture called LaTeX: G_K(s)G_0(s) ).

Bode and Nyquist curves are for open loop systems (blue = original G_0(s), red = compensated G_K(s)G_0(s)

The lower left figure shows the poles of the closed loop systems (same colors)

The lower right figure shows simulations of the closed loop systems (step response at t=0, followed by input load disturbance at t=20, followed by output measurement noise starting at t=40)

Lecture video:

Part 1.

Part 2.

Lecture notes: Chapter 11 in the lecture notes (Swe) / (Eng).

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Repitition Lec8-10:

Kontrollera dina kunskaper om tillstånds- och utsignalåterkoppling med denna sant/falskt-uppgift. Facit. (Note: PBH-testet som nämns i lösningen ingår ej i grundkursen, men nämns i Reglerteori)