美国麻省理工大学：《航空系统的估计与控制》教学资源（讲义）Handout 12：Plants with right half-plane zeros.pdf_大学文库

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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. used to steer cart rear deviation y from reference lane.

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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. 0 used to steer cart rear deviation y from reference lane G(s=y-I

Handout 12: Plants with right halfplane 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 2s 1

Home Depot cart: Casters mounted under cart back. Use again 0 to steer cart rear deviation y from reference lane 1-s G(s) y 0s2 2

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 ˙ = 2s 2

Root-locus and frequency responses: Star Market H ome Depot 3

Rootlocus and frequency responses: Star Market: Home Depot: 3

Design lead compensation for Star Market Home Depot 4

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