How to build PID controller on command Line

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Bahar Ebru
Bahar Ebru 2022-6-26
回答： Sam Chak 2022-6-27
Hello, I'm trying to find and built a PID system.But it gets error.I have to find,reponse time,steady stae error,overshot from Kp,Ki,Td.Function I have to work with is (1/s^2+10s+20).
Tune controller is in this sequence;
1.Only P element
2.Enable D, and returne P
3.Enable I and retune P,D.
And I have to plot, P,I,D,PI,PD,PID, bode and nyquist graphs.
P=4;
bode(P)
I=tf([1],[5]);
bode(I);
D=9;
bode(D);
sys=tf([270 50 1],[225 5 0])
[C_pi,info]=pidtune(sys,'PI')
[C_p,info]=pidtune(sys,'P')
bode(sys)
nyquist(sys)
[C_PD,info]=pidtune(syz,'PID')

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回答（1 个）

Sam Chak
Sam Chak 2022-6-27
Ran in:
Hi @Bahar Ebru
Not exactly sure what you are trying to do (your description and code are not tally). After checking the documentation, I think you can try something like this:
% Plant
Gp = tf(1, [1 10 20])
Gp = 1 --------------- s^2 + 10 s + 20 Continuous-time transfer function.
% Compensator
[Gc, info] = pidtune(Gp, 'PID')
Gc = 1 Kp + Ki * --- + Kd * s s with Kp = 39.3, Ki = 116, Kd = 3.33 Continuous-time PID controller in parallel form.
info = struct with fields:
Stable: 1 CrossoverFrequency: 4.1614 PhaseMargin: 74.0404
% Closed-loop system
Gcl = feedback(Gc*Gp, 1);
Gcl = minreal(Gcl)
Gcl = 3.326 s^2 + 39.27 s + 115.9 --------------------------------- s^3 + 13.33 s^2 + 59.27 s + 115.9 Continuous-time transfer function.
step(Gcl, 5)
bode(Gcl)
nyquist(Gcl)

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