Program With And Without PID Function - Control Systems Lab - MSRIT - RIT

Hi!

Editor -

clc;

clear all;

close all;

nwd=25;

dwd=[1 2.5 0];

[n1,d1]=feedback(nwd,dwd,1,1)

disp('transfer function without derivative control is:')

sys1=tf(n1,d1)

td=0.18;nd=[td 1];dd=[0 1 ]

[ns,ds]=series(nd,dd,nwd,dwd);

[n2,d2]=feedback(ns,ds,1,1);

disp('transfer function with derivative control is:')

sys2=tf(n2,d2)

step(sys1)

grid

hold on

step(sys2)

legend('without','with pd')

Command Window - 

n1 =

     0     0    25

d1 =

    1.0000    2.5000   25.0000

transfer function without derivative control is:

sys1 =

         25

  ----------------

  s^2 + 2.5 s + 25

Continuous-time transfer function.

dd =

     0     1

transfer function with derivative control is:

sys2 =

    4.5 s + 25

  --------------

  s^2 + 7 s + 25

Continuous-time transfer function.

2 - With PID Fuction

Editor -

clc;

clear all;

close all;

nwd=25;

dwd=[1 2.5 0];

sys=tf(nwd,dwd);

[n1,d1]=feedback(nwd,dwd,1,1)

disp('transfer function without derivative control is:')

sys1=tf(n1,d1)

step(sys1);

grid;

hold on;

kp=1;

ki=0;

kd=0.18;

c1=pid(kp,ki,kd);

step(feedback(c1*sys,1));

legend('without','with pd')

Command Window - 

n1 =

     0     0    25

d1 =

    1.0000    2.5000   25.0000

transfer function without derivative control is:

sys1 =

         25

  ----------------

  s^2 + 2.5 s + 25

Continuous-time transfer function.

3 - PID Tuning

Editor - 

clc;

close all;

clear all;

nwd=25;

dwd=[1 2.5 0];

sys=tf(nwd,dwd);

[n1,d1]=feedback(nwd,dwd,1,1);

disp('transfer fucntion without derivative control is:')

sys1=tf(n1,d1)

step(sys1);

grid;

hold on;

kp=1;ki=0;kd=0.18;

c1=pid(kp,ki,kd)

step(feedback(c1*sys,1));

hold on;

kp=0.8;ki=0.6;kd=0.18;

c2=pid(kp,ki,kd)

step(feedback(c2*sys,1));

legend('without','with pd','with pid')

[c3,info]=pidtune(sys,'pid')

figure;

step(feedback(c3*sys,1));

grid;

Command Window - 

transfer fucntion without derivative control is:

sys1 =

         25

  ----------------

  s^2 + 2.5 s + 25

Continuous-time transfer function.

c1 =

             

  Kp + Kd * s

             

  with Kp = 1, Kd = 0.18

Continuous-time PD controller in parallel form.

c2 =

             1          

  Kp + Ki * --- + Kd * s

             s          

  with Kp = 0.8, Ki = 0.6, Kd = 0.18

Continuous-time PID controller in parallel form.

c3 =

             1          

  Kp + Ki * --- + Kd * s

             s          

  with Kp = 0.527, Ki = 0.337, Kd = 0.183

Continuous-time PID controller in parallel form.

info = 

  struct with fields:

                Stable: 1

    CrossoverFrequency: 4.4525

           PhaseMargin: 83.8783

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Rishabh Chatterjee

Hi. I’m Engineering Student. I’m YouTuber. I’m Trying to find my passion.Sharing my life experiences with the world.

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