1. سیستمهای کنترل خطی پاییز 1389 بسم ا... الرحمن الرحيم دکتر حسين بلندي - دکتر سید مجید اسما عیل زاده

2. Design Controller Via Root Locus

7. Design Via Root Locus: We follow the following approaches to study the root locus based design. 1. cascade compensators to improve the steady state error : PI Controller and (Phase) Lag Compensator 2. cascade compensators to improve the transient response: PD Controller and (Phase) Lead Compensator 3. cascade compensators to improve the steady state error and transient response: PID Controller and (Phase) Lag-Lead Compensator, Notch Filter

8. 1- PI (Proportional and Integral) Controller, adding an integrator and a zero

11. Example: PI controller

15. 15 Example: PI controller

16. 16 Example: PI controller

17. 17 Example: PI controller

18. 18 Example: PI controller

19. 2- Phase Lag Compensator, adding a pole and a zero

23. Example: Phase Lag compensator

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34. 34 Example: Phase Lag compensator

35. 35 Example: Phase Lag compensator

36. 36 Example: Phase Lag compensator

37. 37 Example: Phase Lag compensator

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41. 3- PD Compensator, adding a zero

45. Example: PD controller

53. 4- Phase Lead Compensator, adding a pole and a zero

54. 54

55. 55 Example: Phase Lead compensator

56. 56 Example: Phase Lead compensator

57. 57 Example: Phase Lead compensator

58. 58 Example: Phase Lead compensator

59. 59 Example: Phase Lead compensator

60. 60 Example: Phase Lead compensator

61. 61 Example: Phase Lead compensator