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
Design lead compensation for Star Market Home Depot 4