Advanced control engineering (S.R. Burns, 2001)

$ $ $

# # $

$ #

#

#

$

$

$ $

4

ζ = 0.25

θd

K = 52

3

G(s)H(s) =

K

s(s2 + 4s +13)

K = 22.5

2

1

β

θa

Axis

Imaginary

0

σa

–1

–2

θb

–3

–4

–3

–2

0

1

–9

–8

–7

–6

–5

–4

–1

$ $

$

$

# #

$ #

4

3

K1(s + 1)

ζ = 0.7

G(s)H(s) =s (s + 2)(s + 5)

K1

= 15

2

Axis

1

Imaginary

0

σa

K1 = 15

–1

–2

–3

–4

–9

–8

–7

–6

–5

–4

–3

–2

–1

0

1

Real Axis

$

#

#

#

$

#

#

#

4

3

G (s )H(s) =

K1(s + 3)

s (s + 2)(s + 5)

2

ζ = 0.7

Axis

1

K1 = 5.3

Imaginary

0

σa = –2

σb = –1.15

–1

–2

–3

–4