Frequency Domain Design
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In this chapter we continue to explore the use of frequency domain techniques for design of feedback systems. We begin with a more thorough description of the performance specifications for controls systems, and then introduce the concept of "loop shaping" as a mechanism for designing controllers in the frequency domain. We also introduce some fundamental limitations to performance for systems with right half plane poles and zeros.
Textbook ContentsFrequency Domain Design (pdf, 30Jan08)

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Chapter Summary
Exercises
Frequently Asked Questions
Errata
 Errata: Extraneous 'LDH' and comment in the text
 Errata: Dimensions of generalized process transfer function matrix should be 5x3
 Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
 Errata: Arrow labeled u fd in Figure 11.3 is in the wrong direction
 Errata: In Figure 11.3, the label 'y' at the input to P 2 should be removed
 Errata: The signal u ff should be u fr in the caption for Figure 11.3 and associated text
 Errata: Proportional gain in Example 11.4 transfer function should be kp
 Errata: Denominator of vectored thrust process model should be Js^2
 Errata: In Example 11.9, the bound on the gain crossover frequency should be 6.48 rad/sec
 Errata: In expression for I 1, limits have an extra factor of i
 Errata: Contour integral in derivation of Bode's integral formula is analyzed incorrectly
 Errata: In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect
 Errata: Exercise 11.4 should be Example 11.4 in Exercise 11.9
 Errata: Numerator and denominator are switched in Exercise 11.11
 Errata: T d should be T f in Exercise 11.9