25 lines
927 B
Markdown
25 lines
927 B
Markdown
+++
|
|
title = "Right Half Plane Zeros"
|
|
author = ["Dehaeze Thomas"]
|
|
draft = false
|
|
category = "Control Theory"
|
|
subcategory = "Advanced Control"
|
|
+++
|
|
|
|
Tags
|
|
:
|
|
|
|
Right Half Plane (RHP) Zeros are present in a broad range of systems.
|
|
|
|
- SISO RHP zeros:
|
|
- \\(G(z) = 0\\). The real part of \\(z\\) is positive
|
|
- MIMO RHP zeros:
|
|
- RHP zeros of the determinant of the transfer function matrix
|
|
- For MIMO plants, the zero is associated with an output direction
|
|
- Consequences:
|
|
- Non minimum phase
|
|
- Usually, if looking at the step response, at first the response goes in the wrong direction
|
|
- The frequency of the RHP zero should be outside the controller bandwidth.
|
|
It therefore impose a fundamental limitation to the controller bandwidth.
|
|
The reason is that inside the control bandwidth, the controller basically inverts the plant, and the inverse of a RHP zero is an unstable pole.
|