http://www.cds.caltech.edu/~murray/wiki/index.php?title=HW8_problem_4&feed=atom&action=historyHW8 problem 4 - Revision history2020-09-18T06:29:19ZRevision history for this page on the wikiMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=HW8_problem_4&diff=6981&oldid=prevFuller at 01:38, 5 December 20072007-12-05T01:38:16Z<p></p>
<p><b>New page</b></p><div>This problem asks you to design a controller for an unstable system (the magnetically levitating ball demonstrated in lecture) and numerically compute Bode's integral formula for the sensitivity function and show that it is equal to <math>\pi \Sigma Re (p_k)</math>, where <math>p_k</math> are the positions of open-loop right half plane poles. <br />
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The controller can be designed in a manner similar to the procedure given in the lecture notes. <br />
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However, the problem deson't specify that your controller have good tracking error or phase margin. All you need is for it to stabilize. I like my controllers to work well, but when I made a "good" controller, my integral never seemed to converge to the right answer. Perhaps because of numerical instability.<br />
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--[[User:Fuller|Fuller]] 17:38, 4 December 2007 (PST)<br />
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[[Category: CDS 101/110 FAQ - Homework 8]]<br />
[[Category: CDS 101/110 FAQ - Homework 8, Fall 2007]]</div>Fuller