Question

Given the transfer function 1.9 G(s)- (40) 6s3 65s240s and the proportional controller (41) Determine the transfer function Fu(s) of a lead-lag compensator that statesfies the specifications F,(s) = 6.777 below. Motivate the choice of parameters TD'ß,T1 and γ I. The overshoot should be less than 5% (same as before) 2. The closed loop system should be four times faster than what was possible with proportional control 3. The control signal should satsify lu(t)| < thnaz for all t, where uma s given by the function lab3robot (see Section 3.1) 4. The stationary control error should be smaller than 0.05 when the reference signal is a unit ramp (hint: a ramp is an integrated step) 0 t <0 t t0 r(t) ince we eventually want to apply the control law in practice we also have he following requirements 5. We do not want to amplify measurement disturbances too much i.e the high-frequency amplification of the controller should not be made unnecessarily large 5. We do not want to amplify measurement disturbances too much i.e the high-frequency amplification of the controller should not be made unnecessarily large 6. In order to decrease possible problems with nonlinearities we do not want the controller gain for low frequencies to be too large

Answer 1