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Additional resources for Control System Design Guide. Using Your Computer to Understand and Diagnose Feedback Controllers
Full power is applied, and the plant is making the transition as quickly as is physically possible. Note that slewing implies a type of saturation that is entered and exited rapidly. 5 amps is zero. This stands apart from the softer saturation of physical elements, such as the inductors discussed earlier, where the inductance fell gradually as current increased (note also that that form of saturation raised the incremental gain at high current rather than forcing it to zero). All systems have power converter limitations, and most will enter saturation immediately when those limits are exceeded.
This section will discuss the two most common performance measures: command response and stability. 10. 2. It includes a Waveform Generator (Wave Gen) and Live Scope (Vc) for time-domain excitation and display, respectively. It also includes a dynamic signal analyzer (Command DSA) for frequency-domain measurements. 72 and integral gain (KI) of 2. There is a two-pole low-pass filter (Power Stage) simulating a power converter, and an integrating plant with a gain of 500. The model assumes ideal feedback so the plant output is the control law input.
Raising the gain has reduced both the PM and GM, indicating loss of stability. 16a shows overshoot exceeding 60% and, more important, several cycles of ringing. 16b shows the closed-loop Bode plot of the system with the higher gain. The plot indicates peaking of 12 dB, well above the 1 or 2 dB normally considered acceptable. ) Almost no application could accept such low margins of stability. 11a, notice that in the well-tuned system, the gain crossover of 50 Hz lines up almost directly over the peak of the open-loop phase.