美国麻省理工大学：Estimation and Control of Aerospace Systems（航空系统的估计与控制）：l8

Handout 5: Control System Design Principles Eric Feron The standard feedback loop Draw the feedback loop here Tracking requirements: 1 Feb 20, 2004 Unmodelled dynamics: G true (s) = (1 + L(s))G nom (s) Show typical Bode diagram here Insensitivity to unmodelled dynamics requires: Fundamental equality that requires trade between tracking and insensitivity + | = 1 | 2 Desirable Bode Plot for loop gain 3 What happens at crossover frequency? (|KG 1)?| 4