1. Control Systems EE 4314 Lecture 12 Fall 2015 Indika Wijayasinghe

2. Steady-State Error

3. 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

4. State-State Error

6. PID Control

7. Proportional (P) Control

8. Proportional plus Integral (PI) Control

9. Proportional plus Derivative (PD) Control

10. Summary of PID Controller

11. Ziegler-Nichols Tuning of PID Controller

12. Ziegler-Nichols Tuning Rules: First Method

13. Ziegler-Nichols Tuning Rules: Second Method