Sinusodial Wave for PID controller

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Juan Barragan
Juan Barragan 2022-12-18
回答： Sam Chak 2022-12-18
need help on finding a sinusodial wave for a PID controller = 410.39*[(s^2+3.24+1.136)/1]

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回答（1 个）

Sam Chak
Sam Chak 2022-12-18
Ran in:
Hi @Juan Barragan
After simplifying the expression, what does mean?
If you want to simulate the system in transfer functions, you can try the following.
s = tf('s');
% Plant
Gp = 410.39/(s^2 + 4.376)
Gp = 410.4 ----------- s^2 + 4.376 Continuous-time transfer function.
step(Gp, 20)
% PID controller
kp = - 0.0026657569;
ki = 0.0053315139;
kd = 0.0025512318;
Tf = 0.5;
Gc = pid(kp, ki, kd, Tf)
Gc = 1 s Kp + Ki * --- + Kd * -------- s Tf*s+1 with Kp = -0.00267, Ki = 0.00533, Kd = 0.00255, Tf = 0.5 Continuous-time PIDF controller in parallel form.
% Closed-loop transfer function
Gcl = minreal(feedback(Gc*Gp, 1))
Gcl = s^2 + 4.104e-08 s + 4.376 ----------------------------------------- s^4 + 2 s^3 + 5.376 s^2 + 8.752 s + 4.376 Continuous-time transfer function.
step(Gcl, 20)

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