Path: Common/Control
% Creates a PID controller with lag compensation.
Creates a PID controller when there is a lag that you wish to
approximately compensate. You enter the ideal integrator time constant,
the damping ratio and undamped natural frequency of the complex pole
pair. You then select a range of frequencies about you which to
compensate for the lag.
Type PIDWithLag for a demo.
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Form:
y = PIDWithLag( d )
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Inputs
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d (1,1) Data structure
.a Integrator time constant
.zeta Damping ratio
.wN Undamped natural frequency
.tau lag
.w Range of frequencies to minimize lag effect
.k Forward gain (e.g 1/mass or 1/inertia)
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Outputs
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y (:) .kI Integral gain
.kP Proportional gain
.kD Derivative gain
.mI Ideal Integral gain
.mP Ideal Proportional gain
.mD Ideal Derivative gain
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Common: General/DeBlankLT Common: Graphics/NewFig Common: Graphics/PltStyle Common: Graphics/XLabelS Common: Graphics/YLabelS
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