Pole placement 2 degree-of-freedom (2DOF) controller with compensator for third order processes.
Transfer function of the controlled system:
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Vector of parameter estimations:
Controller specific parameters:
Parameter |
Description |
xi – damping factor |
Dumping factor x specifying dynamic behaviour of closed loop. The dynamic behaviour of the closed-loop is similar to second order continuous system with characteristic polynomial . |
omega - natural frequency |
Natural frequency w specifying dynamic behaviour of closed loop. The dynamic behaviour of the closed-loop is similar to second order continuous system with characteristic polynomial . |
2DOF control loop:
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Feedback controller:
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Feedforward controller for a step reference signal:
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Characteristic polynomial of closed loop:
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where polynomials are as follows:
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for |
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for |
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Matrix equation:
3rd order |
nth order |
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Control law:
3rd order |
nth order |
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Source code:
sid |
on-line identification s-function |
pp3c2dof |
function for computation of controller parameters |
scfbfw |
controller s-function |
See also: