Page 100 - Mechatronics with Experiments

180
second-order magnitude

90

Phase (deg) pole/zero, has
0 one
s

–90 it since
first-order case
–180
40 20 0 –20 –40 this
origin, in
the point
Gain (dB)
180 180 180 at a only
pole/zero is

90 90 90 gain, K 0 gain

Phase (deg) (s/z1 + 1) ; z1 = 1. Phase (deg) Second order zeros Phase (deg) functions: constant
1/s 0 0 0

–90 –90 –90 for
transfer plot
–180 –180 –180 the
40 20 0 –20 –40 40 20 0 –20 –40 40 20 0 –20 –40 basic that frequencies.
of
plots Notice all
Gain (dB)
Gain (dB)
Gain (dB)
180 180 180 for
phase coefficients). plot)
90 90 90 versus this on

Phase (deg) 1/(s/p1 + 1) ; p1 = 1. Phase (deg) Second order poles Phase (deg) (a
K o 0 0 0 magnitude damping point

–90 –90 –90 Log different phase
2.32: (for zero

FIGURE pole/zero value
40 20 0 –20 –40 –180 40 20 0 –20 –40 –180 40 20 0 –20 –40 –180 and
Gain (dB)
Gain (dB)
Gain (dB)

86