Modern Control Engineering

604 Chapter 8 / PID Controllers and Modified PID Controllers

By equating the coefficients of equal powers ofson both sides of this last equation, we obtain

1+10K=20.4

10K(a+b)=122.44

10Kab=259.68

Output

t (sec)

(a)

Unit-Step Response (a = 4.2, b = 2, c = 12)

0.6

0.8

1

1.2

1.4

0.4

0.2

0

0 0.5 1 1.5 2 2.5 3 3.5 4

Figure 8–35

(a) Response to unit-

step reference input

(a=4.2, b=2, c=12);

(b) response to unit-step

disturbance input

(a=4.2, b=2, c=12). (b)

Output

t (sec)

Response to Unit-Step Disturbance Input

0.02

0.03

0.04

0.05

0.06

0.07

0.01

0

−0.01

0 0.5 1 1.5 2 2.5 3 3.5 4

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