PID B-2 pole placement controller for second order processes.
Transfer function of the controlled system:
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Vector of identification initial parameter estimations:
Controller specific parameters:
Parameter |
Description |
omega – imaginary component of the pole |
Imaginary component w of the poles of the closed control loop. The dynamic behaviour of the closed-loop is defined by its poles:
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alfa – real component of the pole |
Real component a of the poles of the closed control loop. The dynamic behaviour of the closed-loop is defined by its poles:
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Control law:
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This form of control law can be transformed to feedback feedforward form:
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where controller parameters are calculated by solving following diophantine equation:
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where polynomials are as follows:
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Solving the diophantine equation leads to following relations for controller parameters:
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where:
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Source code:
sid |
on-line identification s-function |
pp2b_2 |
function for computation of controller parameters |
scrqp |
controller s-function |
See also: