Specifications

10 Design Case Studies
10-24
rlocus(Hd)
As shown in the root locus, the poles quickly leave the unit circle and go
unstable. You need to introduce some lead or a compensator with some zeros.
Try the compensator
with and .
The corresponding open-loop model
is obtained by the series connection
Dz
()
za+
zb+
------------
=
a 0.85–= b 0=
y
Dz
()
Plant
u
H
d
z
()
Compensator