pp2a_2

PID A-2 pole placement controller for second order processes.

Transfer function of the controlled system:

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:

           

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:

           

Control law:

where ek is control error (  ) and controller parameters , ,  and  are calculated by solving following diophantine equation:

where polynomials are as follows:

Solving the diophantine equation leads to following relations for controller parameters:

where:

Source code:

sid

on-line identification s-function

pp2a_2

function for computation of controller parameters

scqp

controller s-function

See also:

On-line identification methods

List of common controllers parameters