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    Proportional Control: ( ) ( ) Laplace

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    KOKO
    The document discusses various control system types including proportional, integral, derivative, and proportional-integral-derivative (PID) control. It provides the transfer functions for each control type in both time and Laplace domain representations. It also provides examples of implementing proportional, proportional-derivative, and PID control in MATLAB simulations. Finally, it introduces state space representations of dynamic systems and relates the state space and transfer function representations.

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    Proportional Control: ( ) ( ) Laplace

    Uploaded by

    KOKO
    38 views7 pages
    The document discusses various control system types including proportional, integral, derivative, and proportional-integral-derivative (PID) control. It provides the transfer functions for each control type in both time and Laplace domain representations. It also provides examples of implementing proportional, proportional-derivative, and PID control in MATLAB simulations. Finally, it introduces state space representations of dynamic systems and relates the state space and transfer function representations.

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    Proportional Control

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    The document discusses various control system types including proportional, integral, derivative, and proportional-integral-derivative (PID) control. It provides the transfer functions for each control type in both time and Laplace domain representations. It also provides examples of implementing proportional, proportional-derivative, and PID control in MATLAB simulations. Finally, it introduces state space representations of dynamic systems and relates the state space and transfer function representations.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    38 views7 pages

    Proportional Control: ( ) ( ) Laplace

    Uploaded by

    KOKO
    The document discusses various control system types including proportional, integral, derivative, and proportional-integral-derivative (PID) control. It provides the transfer functions for each control type in both time and Laplace domain representations. It also provides examples of implementing proportional, proportional-derivative, and PID control in MATLAB simulations. Finally, it introduces state space representations of dynamic systems and relates the state space and transfer function representations.

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    Proportional Control

    𝑈(𝑠)
    𝑈(𝑡) = 𝐾𝑝 𝑒(𝑡) Laplace : 𝐸(𝑠) = 𝐾𝑝

    Integral Control Action


    𝑑𝑢(𝑡) 𝑡
    = 𝐾𝑖 𝑒(𝑡) atau 𝑢(𝑡) = 𝐾𝑖 ∫0 𝑒(𝑡)𝑑𝑡
    𝑑𝑡

    𝑈(𝑠) 𝐾𝑖
    Laplace :𝐸(𝑠) = 𝑠

    Proportional-Integral Action
    𝐾𝑝 𝑡
    𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡
    𝑇𝑖 0
    𝑈(𝑠) 1
    TF : 𝐸(𝑠) =𝐾𝑝 (1 + 𝑇 + 𝑇𝑑 𝑠)
    𝑖

    Proportional-Derivative Action
    𝑑𝑒(𝑡)
    𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑝 𝑇𝑑
    𝑑𝑡
    𝑈(𝑠)
    TF :𝐸(𝑠) = 𝐾𝑝 (1 + 𝑇𝑑 𝑠)

    Proportional-Integral-Derivative Action
    𝐾𝑝 𝑡 𝑑𝑒(𝑡)
    𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡 + 𝐾𝑝 𝑇𝑑
    𝑇𝑖 0 𝑑𝑡
    𝑈(𝑠) 1
    TF :𝐸(𝑠) = 𝐾𝑝 (1 + 𝑇 𝑠 + 𝑇𝑑 𝑠
    𝑖
    Proportional Control System

    𝐾
    𝐺(𝑠) =
    𝑇𝑠 + 1
    𝐸(𝑠) 𝑅(𝑠) − 𝐶(𝑠) 𝐶(𝑠) 1
    = = 1− =
    𝑅(𝑠) 𝑅(𝑠) 𝑅(𝑠) 1 + 𝐺(𝑠)
    1
    Maka : E(s)= 𝐾 R(s)
    1+
    𝑇𝑠 +1

    R(s)=1/s
    𝑇𝑠 + 1 1
    𝐸(𝑠) =
    𝑇𝑠 + 1 + 𝐾 𝑠
    𝑇𝑠 + 1 1
    𝑒𝑠𝑠 = lim 𝐸(𝑠) = lim =
    𝑛→0 𝑛→0 𝑇𝑠 + 1 + 𝐾 𝐾 + 1

    Integral Control System

    𝐶(𝑠) 𝐾
    =
    𝑅(𝑠) 𝑠(𝑇𝑠 + 1) + 𝐾
    𝐸(𝑠) 𝑅(𝑠)−𝐶(𝑠) 𝑠(𝑇𝑠 +1)
    , = =
    𝑅(𝑠) 𝑅(𝑠) 𝑠(𝑇𝑠+1)+𝐾

    𝑠 2 (𝑇𝑠 + 1) 1
    𝑒𝑠𝑠= lim 𝐸(𝑠) = lim 2
    𝑛→0 𝑛→0 𝑇 + 𝑠 + 𝐾 𝑠
    𝑠

    =0
    Derivative Control System
    EX

    𝑝(𝑠) 1
    = 2
    𝑞(𝑠) 𝑠 + 5𝑠 + 8

    Ps = [1];
    Qs = [1 5 8];
    step(Ps, Qs)


    Kp = 80;
    Ps = [Kp];
    Qs = [1 5 8+Kp];
    t = 0 : 0.01 : 2;
    step(Ps, Qs)
     Kp = 80;
    Kd = 6;
    Ps = [Kd Kp];
    Qs = [1 5+Kd 8+Kp];
    t = 0 : 0.01 : 2;
    step(Ps, Qs)

     Kp = 80;
    Kd = 6;
    Ps = [Kd Kp];
    Qs = [1 5+Kd 8+Kp];
    t = 0 : 0.01 : 2;
    step(Ps, Qs)

     Kp = 85;
    Ki = 90;
    Kd = 20;
    Ps = [Kd Kp Ki];
    Qs = [1 5+Kd 8+Kp Ki];
    t = 0 : 0.01 : 2;
    step(Ps,Qs)

    clear all
    clc

    num = [ 1 ]
    denom = [ 1 5 8 ]

    Gp = tf(num, denom);
    H = [ 1 ]
    M = feedback ( Gp, H)
    step(M)
    hold on
    %%
    Kp = 85
    Ki = 90
    Kd = 20

    Gc = pid( Kp, Ki, Kd)


    Mc = feedback( Gc*Gp, H)
    step(Mc)
    grid on
    State Space
    Eq:

    𝑥̇ (𝑡) = 𝑓(𝑥, 𝑢, 𝑡)
    𝑦(𝑡) = 𝑔(𝑥, 𝑢, 𝑡)
    𝑥̇ (𝑡) = 𝐴(𝑡)𝑥(𝑡) + 𝐵(𝑡)𝑢(𝑡)
    𝑦(𝑡) = 𝐶(𝑡)𝑥(𝑡) + 𝐷(𝑡)𝑢(𝑡)

    𝑥1 = 𝑦̇
    𝑥𝑛 = 𝑦 (𝑛−1)

    dimana,

    Y = CX

    𝑦(𝑠) 1
    = 𝑛 𝑛−1
    𝑢(𝑠) 𝑠 + 𝑎1𝑆 + ⋯ + 𝑎𝑛−1 𝑆 + 𝑎𝑛
    Dengan β,

    𝑥̇ = 𝐴𝑥 + 𝐵𝑢
    𝑑𝑖𝑚𝑎𝑛𝑎, 𝑦 = 𝐶𝑥 + 𝐷𝑢

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