136 CHAPTER 4. DEMONSTRATION EXAMPLES
Frequency
1 10 100 10000.1 10000
Magnitude
0.01
0.1
0.001
1
Controller: k1
Frequency
1 10 100 10000.1 10000
Phase (degrees)
-200
-100
0
100
-300
200
Onto the closed loop, first checking that it is stable by looking at the pole positions.
rifd(g1)
Poles:
real imaginary frequency damping
(rad/sec) ratio