Ubek 41%. compensation. wth frequency rexponse. Compensation is te we of panic controller Kisy , (as. oppose +f -propectional eninl > tb inprove the agstenn's tality and error Constort, PD contycl. UT Add ed at crose~ over feguercy, booing lead eompensster J 0 faster response sper] anor more. dnpng L control in i regu fg copauine J erase the mognitace at bao fieguenay > tedwe the Prey - state Taking eraors, | Example. Sort, with @ PD oorivel > Hes feenay ala Gootnel the plat. Giss = ge , we wont Me tine te S |scc dnd ershot Mp < lof i fegcnay response characteristics, Teolk the rebtimshp <= Fe so we utet: PM = 60° wee tine ore aly relilel C626 ~ ovr Sregiong We , geterolly we te a fine-out aL what 1s we Jeo Kes) = kat » Skequy = 24 TR) = fan" we unt 2 Kefuey ~ tanh foe « = Q=0.15 whet sR uae? — renenker we meal the Co%s-mer t be at 1.3 (Koger), =k dene ~ beng es be Ke = thus, PD cortrater would be kisy = Tig + Se s) 82)Dobie check wih MATH. Te = 0.0, Mp = 2th, . neal more Pa BPM Bor, pull sin it. Froblons with pure PD contral = Tnpostle ts arhine ty clecine crtuits ~ Gwphfy the sensor Poise whch has hgh fegieny © Ty leet comporsanon rote, KUS> = +t “= lets gp back % the satelite cond . Go He _—— 4 the phase of lee! compensator: 4K = 4045) - 4ut5/e) = tan"'yh — tant fy and he tmavinwr phase led is at w= ab Ahan = 2400 ~ Gor So te get bor phase lent for tis exanple b D8 lead ohla’s te b= 0.35 Td/sec oN agrnetnc Abo we oi Ub BE tice what's the vale for be 2 } mn - ab ue = 13 lee ; welt = omy laste ost | | the lkl= be = 38k ube the steady slate is lowered Hive vot feKie | b= =a46)> Kisy = 0453 E9035 I ‘0, double. check, wiih MATLAB / el treo. v Mp=I9h “tt $ goed ~> v4 differert vabes a G.b wih a higher led roo Sion ths = we see A site effet % led compen flag moe lead unll eer roocwe WL spe wumt % beep steod stote err Constaxt the sane, or decrease. steady state cmstat 1 gon wort t% Reep We the cane,