ts  3.

1085;
cts  0.0403;
PO  10.6892;
Kbb  0.4183;
Gs  Kbb  s ^ 2

0.4183

s2

Ki
Fs5  Kp  Kd s  
s
Ki
Kp    Kd s
s

Fs5 Gs
Ts10  Together  
1  Fs5 Gs

0.4183 Ki  0.4183 Kp s  0.4183 Kd s2




0.4183 Ki  0.4183 Kp s  0.4183 Kd s2  s3

Pcs  DenominatorTs10

0.4183 Ki  0.4183 Kp s  0.4183 Kd s2  s3

FsPI  Kx  Ki  s

Ki
Kx  
s

FsPD  Kp  Kx  Kd s

Kp  Kx  Kd s

Gs
TPD  Together  
1  FsPD Gs
0.4183


0.4183 FsPD  s2

TPD FsPI
TPIPD  Together  
1  FsPI TPD
0.4183 FsPI



0.4183 FsPD  0.4183 FsPI  s2

  0.5972;
wn  15.4021;

Pds  s2  2  wn s  wn2

3.59234  2.19805 s  s2

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 2 PI-PDControl.nb

Prez   wn  s

1.09902  s

sol 
SolveCoefficientListPcs, s  CoefficientListPds Prez, s, 
Kp, Kd , Ki

Kd  7.88207, Ki  9.43835, Kp  14.363

Tsbir  TPIPD . Kx  1, Kd  7.882069521727851`,

Ki  9.438350698736107`, Kp  14.362996355323132`
9.43835
0.4183 1   s 


9.43835


0.4183 1   s   s  0.4183 13.363  7.88207 s
2

StepTsbir

Time Response
1

0.8

0.6
Yt

0.4

0.2

0
0 1 2 3 4 5 6 7
Time

GraphicsArray

Tsiki  TPIPD . Kx  25, Kd  7.882069521727851`,

Ki  9.438350698736107`, Kp  14.362996355323132`
9.43835
0.4183 25   s 


9.43835



0.4183 25   s
 
   s 2  0.4183 10.637  7.88207 s

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 PI-PDControl.nb 3

StepTsiki

Time Response
2

1.5
Yt

0.5

0
0 1 2 3 4 5 6 7
Time

GraphicsArray

Tsuc  TPIPD . Kx  40, Kd  7.882069521727851`,

Ki  9.438350698736107`, Kp  14.362996355323132`

9.43835
0.4183 40   s 


9.43835



0.4183 40   s
 
   s 2  0.4183 25.637  7.88207 s

StepTsuc

Time Response

2.5

2
Yt

1.5

0.5

0
0 1 2 3 4 5 6 7
Time

GraphicsArray

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