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PD Controller

PD Controller. +. +. +. -. -. -. Find the steady-state output due to unit-step r d . Find the steady-state output due to unit-step input (with r d =0). PID Controller. +. +. +. +. -. -. -.

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PD Controller

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  1. PD Controller + + + - - - • Find the steady-state output due to unit-step rd . • Find the steady-state output due to unit-step input (with rd=0).

  2. PID Controller + + + + - - - • Find the steady-state output due to unit-step rd (assume ). • Find the steady-state output due to unit-step (assume rd = 0).

  3. Selection of gains KP , KI and KD: Characteristic equation is: For stability:

  4. PID Controller Design with Root-locus + + + - - • On s-plane, mark the plant poles and zeros. • Where should be controller zeros be located for a good response?

  5. Im s Two poles at the origin (one of the system and another of the PID controller) Re s -5

  6. controller zeros Choose KD for real repeated poles.

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