An extended parameter plane method (I-linear continuous systems)

The parameter plane method, which is based on the characteristic equation, provides an analytical design for control systems with two adjustable parameters. The purpose of this paper is to extend the parameter plane method to multiparameter design. The main extension is to yield an additional constraint equation in terms of the anticipative root value. By assigning dominant poles and applying the design technique of the conventional parameter plane method, the design in the multiparameter level is performed. The analysis procedure for three-parameter control systems is presented. Furthermore, two special cases are studied. As an application of the extended method, an analysis of the dynamic behavior for industrial robots is given