T7sol - ± G º À then Á ÀÀ G uU À¸Ã Äg G uUÂ...

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Or you can use the MATLAB -> sisotool function to solve for a PID controller that satisfies the given constraints. From sisotools -> Kd0 = 16.35, Kp0 = 121.1, and Ki = 224.26 This controller results in the following step response: The resultant overshoot is approximately 0, with settling time being about 0.89s, and ess = 0.
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Proof integral term makes steady state error -> 0 in question 2) Have block diagram in the form: Therefore: g G ± ² ³ G ± ² ´ µ¶ ·g ¸ g G ¹ º»¼ ½¾ ¿ We know that R is a step input or
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Unformatted text preview: ± G º À , then Á ÀÀ G uU À¸Ã Äg G uU À¸Ã º º»¼ ½¾ ¿ G Å To have Á ÀÀ G Å , the loop gain of ´ µ¶ · must be infinity when s->0, and since · G º À Æ »ÇÈÉÀ»ºÊÈÊ , then ´ µ¶ G Ë À Ì ÍÎ G ÏÍÐÍÑÍÒ , then ´ µ¶ · G Ë À Ì ÓÀ Æ »ÇÈÉÀ»ºÊÈÊÔ or uU À¸Ã ´ µ¶ · G Õ In our case, we can use an integral control to do just that: ´ µ¶ G ËÖ À . × ØÙ Ú R Y E...
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This note was uploaded on 09/14/2011 for the course ME 360 taught by Professor Soojeon during the Winter '11 term at Waterloo.

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T7sol - ± G º À then Á ÀÀ G uU À¸Ã Äg G uUÂ...

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