QFT Frequency Domain Control Design Toolbox User
’
s Guide iv
4 Using the Nichols Chart
The Nichols chart ................................................................................................................................4-1
Continuous-Time.................................................................................................................................4-2
Stability.........................................................................................................................................4-2
Robust Stability.............................................................................................................................4-6
Discrete-Time......................................................................................................................................4-9
Stability.........................................................................................................................................4-9
Robust Stability...........................................................................................................................4-11
5 Examples
Introduction .........................................................................................................................................5-1
Examples .............................................................................................................................................5-3
Example 1: Main Example............................................................................................................5-3
Example 2: 2-DOF Design............................................................................................................5-4
Example 3: Non-Parametric Uncertainty......................................................................................5-5
Example 4: Classical Design for Fixed Plant................................................................................5-6
Example 5: ACC Benchmark........................................................................................................5-7
Example 6: Missile Stabilization ..................................................................................................5-8
Example 7: Inner-Outer Cascaded Design..................................................................................5-10
Example 8: Outer- Inner Cascaded Design.................................................................................5-12
Example 9: Uncertain Flexible Mechanism................................................................................5-15
Example 10: Inverted Pendulum.................................................................................................5-17
Example 11: Active Vibration Isolation .....................................................................................5-18
Example 12: Main Example (Discrete-Time).............................................................................5-20
Example 13: 2 DOF Design (Discrete-Time) .............................................................................5-22
Example 14: CD Mechanism (Sampled-data) ............................................................................5-23
Example 15: Multi-Loop Design ................................................................................................5-27
6 Bounds and Loop Shaping
Introduction .........................................................................................................................................6-1
The Bound Computation Managers.....................................................................................................6-1
Single Loop Bound Manager........................................................................................................6-1
General Bound Manager ...............................................................................................................6-4
The Interactive Design Environment (IDE) ........................................................................................6-5
IDE Menus....................................................................................................................................6-5
Design Control Panel ....................................................................................................................6-8
Design Elements .........................................................................................................................6-15
7 Reference
Functions by Class...............................................................................................................................7-2
addtmpl................................................................................................................................................7-3
chkgen .................................................................................................................................................7-5
chksiso.................................................................................................................................................7-7
cltmpl.................................................................................................................................................7-10
genbnds..............................................................................................................................................7-13
getqft..................................................................................................................................................7-15
grpbnds ..............................................................................................................................................7-16
lpshape...............................................................................................................................................7-17
multmpl .............................................................................................................................................7-20
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