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¿>θ z =127.770
ωd
tanθ z =
Z c −σ d
6.34
¿> tan(127.77)=
Z c −2.43
¿> Z c =−2.48
∴ GPD =S+ Z c
¿ S−2.48
S+2.7
∴ G PI =
S
( s−2.48 ) ( s+2.7)
∴ GPID =
s
0.33 k ( s−2.48 ) ( s+2.7)
∴ GCompensated =
s ( s +1 )( s+2 ) (s+ 4)
For making it unity feedback
0.33
G(S) (s +1)(s +2)
=
1+ G ( S ) H ( S )−G( S) 1+ 0.33 0.33
−
( s +1 )( s+ 2 )(s +4) ( s+1)(s+2)
0.33(s +4 )
¿
s + 8 s 2+13.67 s+7.01
3