Specifications

13 SISO Design Tool Reference
13-20
Adding poles and zeros
To add real poles to yourcompensator, press Add Real Pole.Thisactionopens
an empty field in the Poles panel. Specify the pole value in the field. To add a
pairofcomplex poles,press
Add Complex Pole.Inthis case,two fields appear:
one for the real and another for the imaginary part of the poles. Note that you
must specify the a negative sign for the real part of the pole if you want to
specify a pair left-plane poles, but that the imaginary part is defined as +/-, so
you do not have to specify the sign for that part.
If you specify the damping/natural frequency format, there is no distinction
between the real and complex pole specifications. Pressing either button opens
two fields: one for specifying the damping and another for the natural
frequency. If you pressed
Add Real Pole, you only need to specify the natural
frequencysincethe
Edit Compensator window automatically places a 1 in the
damping field in this case.
Adding zeros is exactly the same; press
Add Real Zero or Add Complex Zero
and proceed as above.
Deleting poles and zeros
Whenever you add poles or zeros using the Edit Compensator window, a
delete box appears to the left of the fields used to specify the pole/zero values.
Check this box anytime you want to delete the pole or zero specified next to it.
Store
Use Store to open the Store Compensator window, shown in the figure below.
To save the compensator in the MATLAB workspace, specify the name you
want to save the compensator under and press
OK.