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Cat Te Lae —_Confrol PIP = 29=%\ _)} Moe 4 6 Co _ &w&. bw Res 1+ Gow Go Ts abo sy (Tyee Tieoe gagisy S22 ca i Res CFahion (Ha Bia pli gte) Characterte tic eptrtass 9 Mp sna oa: Routhes ¢latr a3 Yop= Ker 8 H.W for PID controller For the control system shown in fig. (1), find the transfer function of the PID controller G(s) by using a Ziegler-Nichols tuning rule. (s+9) s(s#3) (s#5) RG) >| PID -—} >C() Fig. (1) 2 are » Ge= kp (lea. +75) T= © Ty 500 7 Geos Ke(ie o + oS) Gap Ke \v 8I- : Care iiieraled fs 14-G lye m9) og r SUB) GH) 5633) (se) + KPH) ng $se3) (S49) S(54+3) C545) + Kp($+9) =O Si BS e165 + hops $9Kp 20 nn soe (8 +H0)S + 9XP= Routh" Flyrey 9 kp 70 => KP>e ere u z ——s Sol BEKe 130+ 8KP -IKP > 0 i tena Se on» St gh almen)—9Kke \go- Kp>2 S 9p 3 4 S+@s H(B+I20)% M20) =0 as sel 1356 4 1280 =0 =S= hw cjut eB Qu} + 185Cu) 4 12802 Slew. w 3 2 5 See Bjw 4136 jw + love =o a g 3. s Ww - . Wher Bult BA jw 41282 = 6 \ S (-3d+1630) +) Cw 138) = 0 A 4 a —-8W+lo8d =o ~W 4135W = 0 Bus 08 +g We 136 = Wee W6 a eat iH 2 3 5.5 cy = Wo ire * Kpne-t her gees ST 0-5 Ry 20.5" 05%2 03% Ys ON Ry = omg 60.sy= 6:0F Gee Kp +t ats) 2 72Cl+ 2 cage t o-0%S)

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