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| what are the conditions for positive root locus? |
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Definition
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| state 5 rules of positive root locus |
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| does poles attract or repel in positive root locus? |
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| does zeros attract or repel in positive root locus? |
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| does root locus give information about stability? |
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| what's our assumption for degree of polynomial for root locus? |
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Definition
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| for root locus, given K, how can you find location of point s? |
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Definition
| sub into equation, find s |
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| for root locus, given location of point S, how can you find K? |
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Definition
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| what are the conditions for negative root locus? |
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Definition
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| what are the 5 rules for negative root locus? |
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| why we can't implement PD controller physically? |
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Definition
| because it require us to create impulse function |
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| what's the real world's PD controller's equation? |
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Definition
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| what's the requirement to implement real world's PD controller? |
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Definition
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| when p is very big(p bigger than z), what is it called? |
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Definition
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| for lead controller, what do we use? |
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Definition
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| for transfer function that has pole far out in LHP, will it affect the shape of the locus near real axis? |
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Definition
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| what's the general mathematical equation for a dynamic controller? |
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Definition
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| if p is small compared to z, what is it called? |
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Definition
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| for lag controller, what do we use? |
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Definition
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| if DC gain is increased, what does it implies? |
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Definition
| better at tracking reference inputs |
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| prove that increasing DC gain improves tracking reference inputs |
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Definition
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| what's real world's PI controller's equation? |
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Definition
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| under what condition will point on s=jw be on root locus for some w? |
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Definition
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| what's gain crossover frequency? |
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Definition
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| what's phase crossover frequency? |
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Definition
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| does changing K have effect of changing gain crossover frequency? |
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Definition
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| does changing K have effect of changing phase crossover frequency? |
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Definition
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| prove that changing K only has effect of changing gain crossover frequency |
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Definition
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| in bode plot, how to see the stability of a system |
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Definition
| if gain margin and phase margin is big, then there is a big room for stability margin |
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Definition
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| how does change in k affect gain margin? |
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Definition
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| how does change in k affect phase margin? |
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Definition
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| how does change in pm affect damping ratio? |
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Definition
| PM(degree) is approximately 100 * damping ratio |
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| in general, what are the relationship of Wbw and Wcg and Wn? |
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Definition
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| what are the trade offs when designing compensator? |
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Definition
| good tracking and faster response needs increase in k, but good damping(better stability) requires good damping(phase margin) to be big, which requires decreasing K. |
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| what would be the work around to the trade off when designing compensator? |
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Definition
| use lead controller or lag controller |
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| draw bode diagrams for a lead controller |
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Definition
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| describe lead compensator design steps |
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Definition
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| draw bode diagrams for a lag controller |
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Definition
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| describe lag controller design steps |
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Definition
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| from looking at the bode diagrams for a lag controller, explain why choosing z and p to be small is desirable |
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Definition
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| describe how lead and lag controller increases phase margin |
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Definition
lead controller increases phase margin by reducing gain crossover frequency
lag controller increases phase margin by adding more phase to system |
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| lead compensator and lag compensator, which one will give faster response? |
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Definition
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| what's the range of phase shift on any dynamic controller? |
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Definition
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