Control Theory. Session 6 – Transfer Functions. Standard form of first order TF. We will consider changes w ith respect to a given initial equilibrium . Step response:. Step response of. Δ z (t). A. t. B.
Session6 – Transfer Functions
We willconsider changes
with respect to a giveninitial
Definition of step response: Δz(t) ifΔu(t) is a step of size 1
(set-up in a horizontal plane, spring in rest positionwhen x=0, initialvelocity v=0: equilibrium!)
=1: Critically damped = fastest without oscillations
<1: Underdamped: Oscillations!
Find the TF and
plot the step response for
c= 4 [Ns/m]
Can we nowadd a P controller and calculate the
transfer function of the closed loop?
(by the way, what’s the transfer function of a P controller?)