Lab 6 Grading Scale

Prelab (__/45)
Part (a): Design an all-integrator block diagram to implement the lead compensator 
(do not use derivative blocks.)                                                     (5pts)
Part (b): Find the phase margin and crossover frequency:                           (10pts)
Part (c): Plot the Bode Diagram for the lead compensator:                           (5pts)
Part (d): Design a lead compensator such that the closed loop system for a unit step input:
overshoot of the  is less than 15%
rise time is less than 30ms.                                                       (17pts)
Part (e): Verify that the given Gc, with lower DC gain, satisfies the requirements. (8pts)



-----------------------------------------------------------------
1. Plot with/without saturation
   Discussion                                                  10
-----------------------------------------------------------------
2. DC gain from lab 4
   DC gain from this lab                                       10
-----------------------------------------------------------------
3. Table of values for Mp, tr, and ts for the low and high
        DC gain compensators for each of the following:
        - measured in lab with real motor
        - simulated with motor parameters from prelab
        - simulated with corrected motor parameters
   Discussion                                                  20
-----------------------------------------------------------------
4. Were the design specs met by the low DC gain compensator?
                                    high DC gain compensator?
                                    PD controller from lab 5?  10
-----------------------------------------------------------------
5. Overlaid Bode plots: fit versus measured                    20
-----------------------------------------------------------------
6. Overlaid Bode plots (Open Loop)
   Phase margin and crossover frequency
   Are the open loop design specs met?                         10
-----------------------------------------------------------------
7. Overlaid Bode plots (Closed Loop)
   Closed loop bandwidth
   Discussion                                                  10
-----------------------------------------------------------------
Report Total                                                   90
Prelab                                                         45
Checkout (demonstrate part 5 to your TA)                       15
=================================================================
Lab Total                                                     150