Margens de Ganho e Fase no LQR

Prévia do material em texto

Problem 7.33PP
Prove that the Nyquist plot for LQR design avoids a circle of radius one centered at the -1 point, 
as shown in Fig. Show that this implies that ) f [ l + p |0 ( > ) f ]
But
|i+ i B i-if)‘‘m|&i
Let us re - write the loop gain as sum of its real and imaginary parts
L ( j a ) = K ( j a l - p y ' o
= Re (£ [ ja ) ) + j l ^ (£ [jd>))
Finally
{[Re (£iy (b)] + l} ’ + [in [l (jffi))f a 1