Hardware Reference
In-Depth Information
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Frequency (rad/s)
Figure 3.17: Sensitivity transfer function and complementary sensitivity trans-
fer function corresponding to Figure 3.15.
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Frequency (rad/s)
Figure 3.18: Shock transfer function corresponding to Figure 3.15.
3.2.4 Phase Stable Design
It is shown in section 3.2.2 that inclusion of a suitable notch filter suppresses
the oscillation of the resonant modes caused by a step change in the command
input. This is clearly visible in the step response of Figure 3.12. This phe-
