Path: Common/Control
% Design a PI controller.
Design a PI controller of the form
y = cx + du
x = ax + bu
using pole placement. Inputs are the damping ratio and undamped natural
frequency of the desired closed loop poles.
If no outputs are requested then Bode plots for the controller will
be drawn.
To ensure that the gain at is less than 1 make certain that
2*zeta*wN*inr < 1
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Form:
[a, b, c, d, wC, k] = PIDesign( zeta, wN, inr, tSamp, sType )
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Inputs
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zeta Damping ratio
wN Undamped natural frequency
inr Axis inertia
tSamp Sampling period
sType State equation type ('Delta' or 'Z')
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Outputs
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a Plant matrix
b Input matrix
c Output matrix
d Feedthrough matrix
wC 0 dB Crossover
k Gain at infinity
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Common: CommonData/SwooshWatermark Common: Control/C2DZOH Common: Control/C2DelZOH Common: Control/FResp Common: Control/GND Common: Control/GSS Common: Control/ND2SS Common: Control/S2Damp Common: Control/SS2ND Common: Control/SizeABCD Common: Control/TrnsZero Common: Control/WPZ Common: Control/WReson Common: Control/ZFresp Common: General/CellToMat Common: General/MatToCell Common: General/Watermark Common: Graphics/LogLimit Common: Graphics/NewFig Common: Graphics/Plot2D Common: Graphics/PltStyle Common: Graphics/TextS Math: Linear/ColCompR Math: Linear/DelLZ Math: Linear/IsZero Math: Linear/RowCompU
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