PRÁCTICA VIDEO 1 Control PD, PI y PID

Sistema mecánico
m=2;
b=10;
k=25;
H=tf(1,[m b k])
H=
1
-----------------
2 s^2 + 10 s + 25
Continuous-time transfer function.
%step (H)
CONTROL
figure(1)
rlocus(H)
grid

kp=100; % Proporcional
HLC1=feedback(kp*H,1)

HLC1 =

100
------------------
2 s^2 + 10 s + 125

Continuous-time transfer function.

figure(2)
step(H,HLC1)
kd=10; %derivativa
HLC2=feedback(tf([kd kp],1)*H,1)

HLC2 =

10 s + 100
------------------
2 s^2 + 20 s + 125

Continuous-time transfer function.

figure (3)
step (H,HLC1,HLC2)
ki=400; %integral
GPID=tf([kd kp ki],[1 0]);
HLC3=feedback(GPID*H,1)

HLC3 =

10 s^2 + 100 s + 400

----------------------------
2 s^3 + 20 s^2 + 125 s + 400

Continuous-time transfer function.

figure (4)
step (HLC2,HLC3)