Ziegler-Nichols PD controller for processes of third order. The controller uses reference variable (w) just in proportional component.
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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This form of control law can be transformed to feedback feedforward form:
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where controller parameters , and are calculated using following equation:
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Variables and are ultimate gain and ultimate period respectively.
Source code:
sid |
on-line identification s-function |
zn3pd |
function for computation of controller parameters |
scrqp |
controller s-function |
See also:
On-line identification methods