Slide 1Desired Bode plot shape Ess requirement Noise requirement 0 -90 -180 0dB gcd High low-freq-gain for steady state tracking Low high-freq-gain for noise attenuation…

Slide 1 Desired Bode plot shape 0 -90 -180 0dB  gc High low freq gain for steady state tracking Low high freq gain for noise attenuation Sufficient PM near  gc for…

Desired Bode plot shape 0 -90 -180 0dB wgc High low freq gain for steady state tracking Low high freq gain for noise attenuation Sufficient PM near wgc for stability w w…

PI Controller Design Use PI only when you have to increase system type, i.e., when you have to make a nonzero ess to zero! wgcd Kill PM significantly KI/KP=1/2 KI/KP=1/40…

Proportional controller design Obtain open loop Bode plot Convert design specs into Bode plot req. Select KP based on requirements: For improving ess: KP = Kp,v,a,des / Kp,v,a,act…

Desired Bode plot shape 0 -90 -180 0dB wgc High low freq gain for steady state tracking Low high freq gain for noise attenuation Sufficient PM near wgc for stability w w…