Design Case Studies

Adding a Compensator Gain

The simplest compensator is just a gain, so try the root locus technique to select an appropriate feedback gain.

• rlocus(Hd)
  
  
  
  

As shown in the root locus, the poles quickly leave the unit circle and go unstable. You need to introduce some lead or a compensator with some zeros.

Model Discretization

Adding a Lead Network