Ziegler-Nichols PI controller for processes of third order. The controller is based on trapezoidal method of discretization.
Transfer function of the controlled system:
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Vector of identification initial parameter estimations:
Controller specific parameters:
None.
Control law:
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where ek is control error ( ). This form of control law can be transformed to feedback form:
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Controller parameters are calculated using following equations:
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Variables and are ultimate gain and ultimate period respectively.
Source code:
sid |
on-line identification s-function |
zn3pi |
function for computation of controller parameters |
scqp |
controller s-function |
See also:
On-line identification methods