Modern Control Engineering

610 Chapter 8 / PID Controllers and Modified PID Controllers where This controller involves one pole at the origin and two zeros ...

Section 8–7 / Zero-Placement Approach to Improve Response Characteristics 611 which can be simplified to 24+25K-30Ka+5Ka^2 +j(–1 ...

612 Chapter 8 / PID Controllers and Modified PID Controllers The response to the unit-step disturbance input is shown in Figure ...

Section 8–7 / Zero-Placement Approach to Improve Response Characteristics 613 With this controller the closed-loop transfer func ...

614 Chapter 8 / PID Controllers and Modified PID Controllers Figure 8–43 (continued) (c) yr (t) t (sec) Response to Unit-Acceler ...

Example Problems and Solutions 615 K E(s) U(s) 1 K 0 T 1 s 1 +T 1 s 1 1 +T 2 s +– Figure 8–44 PID controller. type number of the ...

616 Chapter 8 / PID Controllers and Modified PID Controllers + + Ei(s) E(s) Eo(s) Z 1 Z^2 C 1 C 2 R 1 R 2 R 4 R 3 R 5 Fi ...

Example Problems and Solutions 617 R(s) 1 C(s) g 1 Tds + Figure 8–46 Approximate differentiator. PID controller Plant G(s) R ...

618 Chapter 8 / PID Controllers and Modified PID Controllers Design a control system such that the response to any step disturba ...

Example Problems and Solutions 619 Clearly, for a unit-step disturbance input, the steady-state output is zero, since The respon ...

620 Chapter 8 / PID Controllers and Modified PID Controllers A–8–6. Consider the system shown in Figure 8–49. It is desired to d ...

Example Problems and Solutions 621 Real Axis –5 –4 –3 –2 –1 0 1 Imag Axis –2 0 3 –3 2 –1 1 Root-Locus Plot of Gc(s)G(s) Figure 8 ...

622 Chapter 8 / PID Controllers and Modified PID Controllers The closed-loop transfer function is given by The closed-loop poles ...

Example Problems and Solutions 623 Thus,K= 40. Hence Next, we plot a Bode diagram of MATLAB Program 8–10 produces a Bode diagram ...

624 Chapter 8 / PID Controllers and Modified PID Controllers MATLAB Program 8–11 % Bode Diagram num = conv([40 4],[0.1526 1]); ...

Example Problems and Solutions 625 The open-loop transfer function of the designed system is Open-loop transfer function We shal ...

MATLAB Program 8–13 produces the unit-ramp response curve of the designed system. The resulting response curve is shown in Figur ...

Example Problems and Solutions 627 Because the designed system involves three open-loop poles on the jwaxis, the Nyquist dia- gr ...

628 Chapter 8 / PID Controllers and Modified PID Controllers Figure 8–58 Nyquist plot. − 1500 − 1000 − 500 0 500 1000 1500 Real ...

Example Problems and Solutions 629 Solution.The closed-loop transfer functionC(s)/R(s)of the I-PD-controlled system is The close ...