Week 8: Frequency Domain Design
Overview
This lecture covers the basic tools in frequency domain control design through "loop shaping". After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we consider several standard controller types (proportional, lead, PI) and apply them to design a high performance controller for the pitch axis of the Caltech ducted fan.
Reading Material and Handouts
Handouts from lecture
- Monday lecture handout
- MATLAB files: L8_1_loopshape.m, L8_2_dfan.m (CDS 110 only)
- Homework #7
Required reading
-
K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2003. Chapter 8. (Caltech access only).
Supplemental reading
- A. D. Lewis, A Mathematical Introduction to Feedback Control. Chapter 12.
Homework Set
This homework set provides practice in specification and design of control systems in the frequency domain. The first two problems work through examples that are very similar to the one used in lecture. The CDS 110 problems explore the effects of additional dynamics and time delay on the system.