EPM2036 Control Theory Laboratary Design Assignment

Unit-Step Source Code

Unit-Step Response

Unit-Ramp Source Code

Unit-Ramp Response

Unit-ramp

Outpu

Response of the system given input Source Code

Response to input r(t) = t2/6

i) Steady-state error = 0.5 ii) % Max-Overshoot = 50.6 iii) Rise Time (s) = 0.866 iv) Settling Time (s) = 12.1

Refer Table 1.

***For part d), improvement can be made by adjusting the value of KP, KI and KD. To get the optimum values, we can refer to the statements below; proportional control to improve the rise time derivative control to improve the overshoot integral control to eliminate the steady-state error

PID controller included Source Code

Unit-Step Response

Experiment the response of enhanced system towards; i) a unit ramp input ii) the input specified in part b) i) a unit ramp input Source Code

Unit-Ramp Response

ii) the input specified in part b) Source Code

Response to input r = t2/6

From the plotted graphs, we can see the difference before and after PID controller included in the system. Its used to enhanced the system so that the input and output will be the same to reduced or eliminate the steady state error. Thats why the graphs looks like it have one line. Actually, elimination of steady state error, made input equal to output signal.