PI_V =
1
Kp + Ki * ---
s
with Kp = -1.74, Ki = -0.0532
Name: PI_V
Continuous-time PI controller in parallel form.
Check the time-domain response for the control system with the tuned coefficients. To
produce a plot, construct a closed-loop model of the tuned control system. Plot the step
response from reference to output.
T = connect(G,C,'r','y');
step(T)
Tune MIMO Control System for Specified Bandwidth