J

- -

J J
W

K J
K J
K J
K J
K J
K J
K J

- -

J J
Closed-loop Control J
K

K

Actuating signal
Controller

forward-path
E
+ k
System
Input signal Output signal
- M
components
(controlled variable)
(com mand)

feedback -path
System
components

E4-1)
K
E1-4 F


block diagramE1-4F
E
controller K
plant
EFK
K

K
operational amplifier
K

- -

J J
M
Kplant EF
K

K

K

J

SimulinkK


K
J

1-3
b(t)r(t)b(t)r(t)

R(s) E(s) C(s)

G(s)
r(t) e(t) c(t)

B(s)
H(s)
b(t)
E2-4F

- -

J J
Kc(t)
e(t ) = r(t ) b(t )
EH(s)=1F

e(t ) = r (t ) c(t ) E1-4F

s

E ( s )) = R ( s ) C ( s ) E2-4F
W

C ( s) G( s)
T ( s) = =
R ( s ) 1 + G ( s ) E3-4F
W

G( s)
C ( s) = R ( s ) E4-4F
1 + G( s)

W2-3 C(s)

1
E ( s) = R ( s ) E5-4F
1 + G( s)

E3-4F
:
Gp(s)
Gc(s)

- -

J J

R(s) E(s) P(s) C(s)

Gc(s) Gp(s)
r(t) e(t) p(t) c(t)

E3-4F

Gp(s)FGc(s)
G(s)=Gc(s)Gp(s)

W

C ( s) G c ( s )G p ( s )

=
R ( s ) 1 + G c ( s )G p ( s ) E6-4F

W

1
E ( s) = R ( s ) E7-4F
1 + G c ( s )G p ( s )

J
W
p(t)=Kpe(t)

P(s)= KpE(s)

- -

J J
W

Gc ( s ) = K p E8-4F

WR0
R0 t 0
r ( t ) =
0 t<0

R0
R ( s ) =
s
W
1

G ( s) =
p s + 1
7-3R(s)Gp(s)Gc(s)
W
1 R
E (s) = 0
1 s E9-4F
1+ K p
s + 1
9-3
s + 1
E ( s ) = R0
s(s + 1 + K p ) E10-4F

s + 1 R0
e ss = lim sE ( s ) = lim sR0 =
s 0 s 0 s(s + 1 + K p ) 1 + K p E11-4F

E11-4F

KKKp
- -

J J
Simulink
1
r (t ) = 1 G p ( s ) = W
s +1

Kp =2 Kp =5 K p = 10




K3-3
1
KP=10

KP=5

KP=2

0
0 0.5 1 1.5 2 2.5 3

KE4-4F

- -

J J
J
W
t
p(t ) = K I e( )d
0
W
KI
Gc ( s) =
s E12-4F

WR0
R0 t0
r (t ) = 0 t < 0


R0
R ( s ) =
s
W
1
G
p ( s ) =
s + 1
E7-4FR(s)Gp(s)Gc(s)
W

1 R
E ( s) = 0
KI 1 s E13-4F
1+
s s + 1

13-4
s (s + 1) R

E ( s) = 0 E14-4F
(s 2 + s + K I ) s

- -

J J

R s(s + 1)
e ss = lim sE ( s ) = lim s 0 = 0 E15-4F
s 0 s 0 s (s + 1 + K I )
E15-4F

K
Simulink
1
W r(t ) = 1 G p ( s) =
s +1
K I = 0.1 K I = 0.2 KI = 0.3 K I = 2
E5-4FESimulinkF
K

1.4
KI=2

1.2

KI=0.2
0.8 KI=0.3
KI=0.1

0.6

0.4

0.2

0
0 5 10 15 20

E5-4F
J

- -

J J
J
W
t

p(t ) = K p e(t ) + K I e( )d
0
W
K ps + KI
Gc ( s) = E16-4F
s

t0
r(t ) =
R0
R0:
0t<0
R
R( s ) = 0
s
W
1
G p ( s ) =
s + 1

7-4R(s)Gp(s)Gc(s)
W

1 R
E ( s) = 0
K ps + KI 1 s E17-4F
1+
s s + 1

16-4

s(s + 1) R

E ( s) = 0 E18-4F
s 2 + s( K p + 1) + K I ) s

- -

J J
R0 s (s + 1)
ss lim
e = sE ( s ) = lim s (s 2 + s(1 + K ) + K ) = 0 E19-4F
s
s 0 s 0 p I
E19-4F
K
Simulink
W
1
r(t ) = 1 G p ( s) =
s +1

K I = 2, K p =1 K I = 1, K p =1 K I = 1, Kp =2

K I = 2, K p =1

K I = 1, Kp =2

K I = 1, K p =1

0
0 1 2 3 4 5 6 7 8

5-4

E6-4FESimulinkF
K

- -

J J

W
t
de(t )
p(t ) = K p e(t ) + K I e( )d + K D
dt
0
W

KDs2 + K ps + K I
Gc ( s) = E20-4F
s

t0
r(t ) =
R0
R0
t<0
0
R
R( s ) = 0
s
W
1

G ( s) =
p s + 1

7-4R(s)Gp(s)Gc(s)
W
1 R
E ( s) = 0
KD s2 + K ps + K I s E21-4F
1
1+
s s + 1

- -

J J
20-4

s(s + 1) R
E ( s) = 0

( + K D ) s 2 + ( K p + 1) s + K I ) s E22-4F



R s (s + 1)
e ss = lim sE ( s ) = lim s 0 = 0 E23-4F
s 2
s 0 s 0 ( + K D ) s + ( K p + 1) s + K I

E23-4F
K
SimulinkE7-4F

1
r(t ) = 1 G p ( s) =
s +1
W

K I = 1, K p = 1 , K D = 2 W
K I = 1, K p = 1 , K D = 1 W
K I = 2, K p = 1 , K D = 0.2 W

- -

J J
KEPIDFE8-4F


Kp
1

Constant 1
Ki
s
1
simout
s+1
G(s) To Workspace


Kd du/dt

PIDSimulimk7-4

K I = 1, K p = 1, K D = 2


1

K I = 2, K p = 1 , K D = 0.2


K I = 1, K p = 1, K D = 2

0
0 5 10 15


E8-4F

- -

J J


J
W



R(s) E(s) C(s)
1
s +1
r(t) e(t) c(t)


F(s)

f(t)

J
W



R(s) E(s)

C(s)
10

s+2
r(t) e(t) c(t)

F(s)

2
s+4
f(t)

- -

J J

J

J

K J
K


R(s) E(s) C(s)
K
s+2
r(t) e(t) c(t)

B(s) 2

s+4
b(t)

W J



ess

Kp
C(s)
1 1
Constant s+2
Sum1 1 G(s)
Ki
s

- -

J J
W J



ess

Kp
1
C(s)

Ki
Constant 1
1
s
s+1
G(s)

Kd du/dt

- -