𝟏

rt Tr Mp Ts Ess ChrD Kp Ti 0 Td Kp Ti 20 Td 𝑲𝒑 ൬𝟏+ +𝑻𝒅𝑺൰

𝑻𝒊𝑺
Kp - + sch - P 0.3/a inf 0 0.7/a inf 0
Ki - + + x PI 0.6/a 4L 0 0.7/a 2.3L 0
Kd sch - - = PID 0.95/a 2.4L 0.42L 1.2/a 2L 0.42L
ZN Kp Ti Td a ChrR Kp Ti Td Kp Ti Td
P 1/a inf 0 K P 0.3/a inf 0 0.7/a inf 0
PI 0.9/a 3L 0 *L PI 0.35/a 1.2T 0 0.6/a T 0
PID 1.2/a 3L 0.5L /T PID 0.6/a T 0.5L 0.95/a 1.4T 0.47L

0 𝑒𝑇
0 1 0 ⋯ 0 ) ) )𝑇1)‫ې ۍ‬
0 ‫ېۍ‬
))))))))))
𝑇 −1𝐴𝑇 = 𝐴𝑥ሶሺ𝑡ሻ= ൦
0 0 1 ⋯ 0 ‫ۑێ‬
))))))))
൪𝑥ሺ𝑡ሻ+ ⋮ ))))))))
𝑢ሺ‫𝑡ۑ‬ሻ 𝑇𝑐−1 = 𝑒𝑛‫ۑ) ) ) 𝐴ێ‬
⋮ ⋮ ⋮ ⋱ 1 ‫ێ‬ ‫ۑ) ) ) ⋮ێ‬
−𝑎0 −𝑎1 −𝑎3 ⋯ −𝑎𝑛−1 ‫ۑێ‬
0)))))))) )𝑒)𝑛𝑇‫𝐴ۏ‬−1) ) ) )‫ے‬
)))))‫ۏ‬
1))))))))))‫ے‬
𝑦ሺ𝑡ሻ= ሾ𝑏0−𝑏𝑛 𝑎 0 −𝑏1−𝑏𝑛 𝑎 1 … 𝑏𝑛−2 − 𝑏𝑛 𝑎𝑛−2 𝑏𝑛−1 − 𝑏𝑛 𝑎𝑛−1 ሿ𝑥(𝑡)

𝐴ሚሺ𝑡ሻ= ൣ൫𝑇−1ሶ ൯ሺ𝑡ሻ𝑇ሺ𝑡ሻ+𝑇−1ሺ𝑡ሻ𝐴ሺ𝑡ሻ𝑇(𝑡)൧

𝐵෨ሺ𝑡ሻ= 𝑇−1ሺ𝑡ሻ𝐵ሺ𝑡ሻ 𝐾=𝐾෩ 𝑇𝑐−1

𝑏0
𝐶ሚሺ𝑡ሻ= 𝐶ሺ𝑡ሻ𝑇ሺ𝑡ሻ 𝑀ሺ0ሻ=
𝑎0 −𝑘1
𝐷෩ሺ𝑡ሻ= 𝐷ሺ𝑡ሻ

𝐴𝑟 =(𝐴 +𝐵𝐾)

2(𝑧−1)
𝐴𝑟 =𝐴+𝐾0𝐵𝐾 𝑠≈
𝐺𝑟(0)=𝐺𝑝𝐾0
𝑇(𝑧+1)
𝑎0 =0 ;𝑘1 =0
∞ ሺ𝑛ሻ
ሺ𝑥ሻ
𝑓 ෤ 𝑛 𝐴𝑟 =𝐴+𝐵𝐾 −𝐾0𝐵𝐾
𝑓ሺ𝑥෤ሻ= ෍ ሺ𝑥−𝑥෤ሻ
𝑛!
𝑛=0
 𝜁  =cos𝜙 𝑗  𝜔
𝑗  𝜔 𝑑
𝜔
  𝑛 𝐶  ( 𝑠 )
= 2
𝜔2𝑛
2 𝑅 ( 𝑠 ) 𝑠 + 2 𝜁 𝜔𝑛 𝑠+
𝜔  𝑛 √ 1 − 𝜁 𝜙
 
−𝜎
  0 𝜎  𝑢  𝑏𝑛 𝑠𝑛 +𝑏 𝑛
=𝐺 ( 𝑠 )= 𝑛
𝑦 𝑠 +𝑎 𝑛 𝑠
𝜁  𝜔 𝑛

0 1
𝐴  −𝑏 𝑘 𝑇 =
[ − 𝜔2𝑛 −2 𝜔 𝑛 ]
𝑄=
 
[ 𝐵 𝐴𝐵 𝐴 2 𝐵
𝑇
𝑥˙  ( 𝑡 )=( 𝐴−𝑏𝑘
  ¿
) 𝑥 ( 𝑡 ) +𝑘 𝑟 𝑏𝑟 (𝑡 )
 𝟏
𝑲𝒑 ൬𝟏+ +𝑻𝒅𝑺൰
rt Tr Mp Ts Ess ChrD Kp Ti 0 Td Kp Ti 20 Td 𝑻𝒊𝑺
Kp - + sch - P 0.3/a inf 0 0.7/a inf 0
Ki - + + x PI 0.6/a 4L 0 0.7/a 2.3L 0
Kd sch - - = PID 0.95/a 2.4L 0.42L 1.2/a 2L 0.42L
ZN Kp Ti Td a ChrR Kp Ti Td Kp Ti Td
P 1/a inf 0 K P 0.3/a inf 0 0.7/a inf 0
PI 0.9/a 3L 0 *L PI 0.35/a 1.2T 0 0.6/a T 0
PID 1.2/a 3L 0.5L /T PID 0.6/a T 0.5L 0.95/a 1.4T 0.47L

1
𝑉𝐶 = 𝐼
𝐶𝑆
𝑉𝐿=𝐿𝑆𝐼

∞ ሺ𝑛ሻ
ሺ𝑥ሻ
𝑓 ෤ 𝑛
𝑓ሺ𝑥෤ሻ= ෍ ሺ𝑥−𝑥෤ሻ
𝑛!
𝑛=0