Handout 12: Plants with right half-plane zeros
Eric Feron
March 15, 2004
The worst of all (but they exist)!
Example: The Star Market vs. Home Depot dilemma
Star Market cart: Casters mounted under cart front. θ
˙
used to steer cart
rear deviation y from reference lane.
G(s) =
y
θ
˙
=
1
2
s
1
Home Depot cart: Casters mounted under cart back. Use again θ
˙
to
steer cart rear deviation y from reference lane.
1 ? s
G(s) =
y
θ
˙
=
2
s
2
Root-locus and frequency responses:
Star Market:
Home Depot:
3
Design lead compensation for Star Market
Home Depot
4