Simulink Control Design™ - MathWorks

bodeplot(sys1,'k',sys2,'r',sys3,'g', {1e-2,1e2},p);

legend('Continuous Model','Ts = 0.1','Ts = 0.25','Location','SouthWest');

Using the model with the slowest sample time, redesign the compensator using the

techniques in the example "Single Loop Feedback/Prefilter Design". This gives the

following PI Gains:

set_param('scdspeed_compdelay/PID Controller','P','0.00065912');

set_param('scdspeed_compdelay/PID Controller','I','0.001898342');

Simulate the resulting closed loop system with a sample time Ts = 0.25:

sim(mdl);

Tc = simout.time;

Yc = simout.signals.values;

9 Classical Control Design