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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