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

|1 + Gm(jω)C(jω)|

|1 + G(jω)C(jω)|

for some G(jω) π

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D(s)

R(s) +

K

1

+

Y(s)

–

(1+s)(1+2s)

+

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10

0

|S(jω)|

–10

|

T(jω)|

–20

Gain

(dB)

–30

–40

–50

–60

–70

10–2

10–1

100

101

102

Frequency (rad/s)

10

0

K = 3.5

–

–10

|T(jω) m(ω)|

(dB)

–20

K = 2

–30

–40

–50

10–1

100

101

10–2

Frequency (rad/s)

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10

5

0

|S(jω)W(jω)|

K =

2

K = 2.5

K = 3.5

dB –5

–10

–15

–20

10–1

100

101

10–2

u1

y1

u2

y2

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#

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#

# $

$