Control Systems EE 4314 Lecture 12 Fall 2015 Indika Wijayasinghe.

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Presentation transcript:

Control Systems EE 4314 Lecture 12 Fall 2015 Indika Wijayasinghe

Steady-State Error

Steady-State Errors Type InputStep (position)Ramp (velocity)Parabola (acceleration) Type 0  Type 10  Type 200 Steady-state errors as a function of system type

State-State Error

PID Control

Proportional (P) Control

Proportional plus Integral (PI) Control

Proportional plus Derivative (PD) Control

Summary of PID Controller

Ziegler-Nichols Tuning of PID Controller

Ziegler-Nichols Tuning Rules: First Method

Ziegler-Nichols Tuning Rules: Second Method

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