LEAD COMPENSATOR (9-44)

By
Noe Garcia
Luke Salvaor
ME!!4" #i$ra%io&' a& Co&%rol'
Pro(e''or Gra&a
INTRODUCTION
A lea co)*e&'a%or i' a co)*o&e&% i& a co&%rol 'y'%e) %+a% i)*rove' a& u&e'ira$le
(re,ue&cy re'*o&'e i& a (ee$ack a& co&%rol 'y'%e)- T+ey ca& $e (ou& i& ro$o%ic'.
'a%elli%e co&%rol. au%o)o$ile'. a& o%+er evice' re,uiri&/ co&%rol 'y'%e)'-
0or our *ro1ec%. 2e +ave c+o'e& *ro$le) 344. i& C+a*%er 9 o( %+e %e4%$ook Co&%rol
Sy'%e)' E&/i&eeri&/. $y Nor)a& S- Ni'e- Pro$le) 44 i' e'cri$e a' (ollo2'"
DESIGN PROBLEM 44 (CHAPTER 9)
0i/ure P9-!5 i' a 'i)*li(ie $lock ia/ra) o( a 'el(-/uii&/ ve+icle6' $eari&/ a&/le
co&%rol- De'i/& a lea co)*e&'a%or %o yiel a clo'e-loo* '%e* re'*o&'e 2i%+ !78
over'+oo% a& a 'e%%li&/ %i)e o( !-9 'eco&'-
FIG P9.13
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VERIFICATION THROUGH MATLAB
A veri(ica%io& o( our re'ul%' %+rou/+ )a%la$ i' a' (ollo2'"
syms s %%%Generates the
variable s
numg=2500; %%%Generates
numerator of G(s)
deng=expand(s*(s2!"0*s!50)*(s!25#$%)); %%%Generates
denominator of G(s)

&G(s)& %%%'isplay (abel
deng=sym2poly(deng);
G=tf(numg)deng);




pos="0; %%%*vershoot in
per+ent
,=-log(pos."00).s/rt(pi2!0log(pos."00)12) %%%'etermining
damping ratio



rlo+us(G) %%%'etermining root
lo+us
sgrid(,)0) %%%*verlay desired
per+ent overshoot

G,p2=,p2(G)

&3(s)& %%%'isplay (abel
3=feedba+2(G)2); %%%4reates and
displays 3(s)
step(3) %%%5lots step
response of lead +ompensated system#
T+i' i' 2+a% %+e 'y'%e) look' like 2i%+ou% a lea co)*e&'a%or"
>i%+ co)*e&'a%or"
Roo% Locu' Plo%"
A co*y o( %+e *ro/ra) %o $e ru& 2ill $e i&clue i& %+e (ile (oler-