Abstract
Consider the closed-loop system in Fig. 5.1.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Although the poles determine stability and transient response, zeros also have an effect on the final shape of the transient response (see Sect. 8.1, Chap. 8). This is the reason why the design based on the root locus is sometimes performed by trying to cancel one closed-loop pole with a closed-loop zero.
- 2.
If it is assumed that this pole and zero at s = 0 cancel each other out, then a nonzero steady-state deviation would exist and the problem would be worse.
- 3.
- 4.
It is left as an exercise for the reader to verify this fact.
- 5.
Again, it is left as an exercise for the reader to verify this fact.
References
G. W. Evans, The story of Walter R. Evans and his textbook Control-Systems Dynamics, IEEE Control Systems Magazine, pp. 74–81, December 2004.
R. Kelly, V. Santibáñez, and A. Loría, Control of robot manipulators in joint space, Springer, London, 2005.
R. Kelly and V. Santibáñez, Motion control of robot manipulators (in Spanish), Pearson Prentice Hall, Madrid, 2003.
R. Kelly, PD control with desired gravity compensation of robotic manipulators: a review, The International Journal of Robotics Research, vo. 16, No. 5, pp. 660–672, 1997.
K. Ogata, Modern control engineering, 4th edition, Prentice-Hall, Upper Saddle River, 2002.
N. S. Nise, Control systems engineering, 5th edition, John Wiley and Sons, New Jersey, 2008.
R. C. Dorf and R. H. Bishop, Modern control systems, 10th edition, Pearson Prentice-Hall, 2005.
B. C. Kuo, Automatic control systems, Prentice-Hall, 1995.
G. H. Hostetter, C. J. Savant, and R. T. Stefani, Design of feedback control systems, Holt, Rinehart and Winston, 1982.
W. Ali and J. H. Burghart, Effects of lag controllers on the transient response, IEE Proceedings-D, Control theory and applications, vol. 138, no. 2, pp. 119–122, March 1991.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this chapter
Cite this chapter
Hernández-Guzmán, V.M., Silva-Ortigoza, R. (2019). Time Response-Based Design. In: Automatic Control with Experiments. Advanced Textbooks in Control and Signal Processing. Springer, Cham. https://doi.org/10.1007/978-3-319-75804-6_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-75804-6_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-75803-9
Online ISBN: 978-3-319-75804-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)