![]() The tool will automatically recalculate the values of zero and pole accordingly. Instead of typing zero and pole locations you could specify the amount of phrase leads that you want and the frequency where you want it. As the changes are made, notice how the tool automatically calculates the amount of maximum phrase lead from the leap compensator, and the corresponding frequency. For example, you can place a zero at minus one and a pole at minus 10. Right now it has a gain, an integrator, and a lead. If you right click on one of the design plots and select Edit Compensator you will see the structure of the compensator. You can now interactively change the locations of poles and zeros, as well as the magnitude of the compensator. ![]() If you want to make the response faster and keep it nicely damped, you can add a lead compensator to the system. For example, you can see that the rise time is about 2 and 1/2 seconds. In the Step Response plot you can check characteristics of the system. Once the integrator is added you can adjust the compensator gain to achieve nicely damped response. In this case, the system needs an integrator to achieve zero steady state error. ![]() You can easily add poles and zeros to your compensator. To change the gain of your compensator adjust the magnitude of the Bode plot, or move closed-loop poles of the Root Locus editor. Now that you have selected the design plots you can start tuning your compensator. In this case, we will stick with Bode and Root Locus editors we already have opened. In the Tuning Methods you can select graphical tuning methods you want to use, Bode, Closed-Loop Bode, Root Locus, and Nichols. If you click on Edit Architecture you can configure your controller architecture and import new plant transfer functions and existing compensators. In this plot you get a step response of the closed-loop system. You can use the plots for graphical tuning. Here you see the Bode Editor, and here is the Root Locus Editor. If you know your plant transfer function, sys, in this simple case, 1 over s plus 1, you can launch Control System Designer app by typing controlSystemDesigner(sys). Control System Designer app lets you tune single-input single-output compensators using graphical and automated tuning methods. ![]()
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