Continuing Question 5, turn off the lag filter and use a notch filter to improve the performance. Simultaneously adjust Notch Freq and KVP to maximize KVP without inducing peaking in the closed-loop Bode plot.

DATA FROM QUESTION 5

Using Experiment 16C, improve the performance of a system with reduced inertia instability using low-pass and lag filters. Load and compile the model. Set JM = 0.004 kg-m2 and KVI = 0.

a. Tuning without a filter: Set KVP to the maximum value that does not generate peaking while the lag filter is turned off. What is KVP? What is the system bandwidth?

b. Tuning with a low-pass filter: Turn on the lag filter, but set Num Freq to 1000 Hz (using such a high frequency for Num Freq makes the lag filter behave like a low-pass filter in the frequencies of interest). Adjust Den Freq and KVP simultaneously so that KVP is at its maximum value without peaking. What are Den Freq and KVP? What is the system bandwidth?

c. Tuning with a lag filter: Repeat Question 5b, but maintain Num Freq at four times Den Freq.

d. What conclusions could you draw?