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Unformatted text preview: k1*k2]; %G2 is the transfer function assuming the force from the bus is 0 G2=tf(num1,den1); numf=num1; denf=nump; %F is the combined force that comes from the road and from the bus F=tf(numf,denf); %Create the controller implementing all three gains into the transfer %function contrPID=tf([KD KP KI],[1 0]); %incorporate the feedback into the controller sys_clPID=F*feedback(F*G1,contrPID); %set time step t=0:.05:5; %Create a step imput into the function step(0.2*sys_clPID,t) title('0.2m high step w/ pid controller') axis([0 5 -.005 .005])...
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This note was uploaded on 03/22/2012 for the course ENGINEERIM 1000 taught by Professor Ee during the Spring '12 term at Vermont Tech.
- Spring '12