Designing the Compensator in the Discrete Domain
To remove the oscillatory effects of the closed-loop system with the slowest sample time
of Ts = 0.25, you need to redesign the compensator. First, redesign using a discretized
version of the plant. You can redesign the compensator in a fashion similar to the example
entitled "Single Loop Feedback/Prefilter Design". The tuned compensator has the
following gains:
P = 0.00066155
I = 0.0019118795
set_param('scdspeed_compdelay/PID Controller','P','0.00066155');
set_param('scdspeed_compdelay/PID Controller','I','0.0019118795');
Modeling Computational Delay and Sampling Effects