LAB #5 report. MAE 106. UCI. Winter 2005
Nasser Abbasi, LAB time: Thursday 2/10/2005 6 PM
a)
The output is
and the input is
But
Take Laplace transform we get
Hence the transfer function
Compare this transfer function with
the
one we used in the Lab. We see that new
has a zero at
while
has no zero. This controller will perform better as it tracks speed error as
well as position error. This will make it more sensitive to changes.
For
p1, we are asked to plot the predicted response of
for a step input for
Write the equation in standard form, we get
Hence
and
Where
and
I will use
hence
the transfer function becomes
The following are the plots generated by a small program
For p3, we are asked to show plots for step input response for
These are plots:
for
p4, we are asked to plot the step response with higher k on top of the step
response using original gain. this is the result
We see that with higher k, then the system responded more quickly.
Here we are asked to plot the frequency response for the predicted response. p2:
This is the result for p5