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I think there is a mistake about the calculation of PID's transfer function.
You use this Gc(s)=(K1K2K3*s^2 + K1K2*s + K1)/K2*s instead of this Gc(s)=(K3*s^2 + K1*s + K2)/s Could anyone tell me if I have wrong?
.. Then it makes sense to include it into that submission. (You could have at least linked to it). How many FEX visitors do not have access to Matlab, though?
Good!
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