Generic pole placement controller for processes of third order
Transfer function of the controlled system:
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Vector of identification initial parameter estimations:
Controller specific parameters:
Parameter |
Description |
Reference signal type |
It’s possible to choose one of the following signal types: · steps · ramps · sin waves |
Frequency |
Frequency f of reference signal - valid only when reference signal is 'sin waves' |
Coefficients of characteristic polynomial |
Vector determining characteristic polynomial D(z-1) and thus the positions of the poles of the closed loop. If vector is [d0, d1, d2, d3, d4. d5], then characteristic polynomial will be D(z-1) = d0 + d1·z-1 + d2·z-2 + d3·z-3 + d4·z-4 + d5·z-5. The length of the vector can vary but at lest d0 must be specified. |
Control law:
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where controller parameters r0, r1, q0, q1, q2, p0, p1 and p2 are calculated by solving following diophantine equation:
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where polynomials are as follows:
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is any appropriate polynomial |
F(z-1) depends on reference signal type:
Reference signal type |
F(z-1) |
steps |
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ramps |
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sin waves |
where |
Source code:
sid |
on-line identification s-function |
pp3chp |
function for computation of controller parameters |
scfbfw |
controller s-function |
See also: