Frequency Response Bode and Nyquist plots Nyquist stability theorem Closed loop response characteristics Controller performance and design criteria

Concept

Definitions

Basic Theorem

Example

Bode Plot

Nyquist Plot

Bode Plot of PID Controller

Nyquist Stability Theorem

Example

Closed Loop Frequency Response Complementary Sensitivity Sensitivity

Example

Criteria for Controller Design No steady state error .Suppress noise in measurement Provide good disturbance rejection as a wide a frequency range as possible. Provide a high band width Maximum closed loop modulus (Mp)

Robustness Measure

H2 Control Specifications

H Control Specifications