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Question:
Take a second order system and apply various configurations of continuous time and discrete
time PID controller.
Solution:
We will take the same second order system which we took in Assignment # 02 i.e simple mass
spring damper system.
m= 1kg , b=10 N.s/m , k=20 N/m , f=1N
G(s)=1/s2+10s+20 [Ref: Feedback Control Systems, 4
th Edition C.L Phillips and R.D
Harbor]
Configuration # 01
Kp=350, Ki=300, Kd=50
Simulation
Output
Configuration # 02
K=350, A1 = 1, A2=0.2
Simulation
Output
Configuration # 03
Simulation
K=400 , A=0.07 , a = 3
Output
Configuration # 04
Simulation
Output
Discrete PID
Positional Form
Sampled at T= 1 sec
Kp=2.5 , Ki= 4.8 , Kd=0.2
Output
Velocity Form
Sampled at T= 1 sec
Kp=2.5 , Ki= 4.8 , Kd=0.2
Output
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