2251772812

PI_rzlOto_txt.m x)

1 -	s=tf('3');
2 -	G=l/(10*3+1)*exp(-s) ;
3 -	Kp=l; Ki=l;
4    - 5	R=Kp+Ki/s;
6 -	[C infol= pideune(G,'ci')
7 -	Gz=feedback(G*R, i) ;
8 -	scep(Gz)
9 -	scepinfo(Gz)

Command Window

Pi Figurę 1

1° 1 ^

File Edit View Insert Tools Desktop Window				Help *
	k	\ O ® « A •	S	□ S	r 0

Step Response

C =

1

Kp + Ki * ---

3

wich Kp = 0.552, Ki = 0.141 Concinuous-cime PI concroller in

info =

Scafcle: 1

CrossoverFrequency: 0.1049 PhaseMargin: 60.0000

ans =

RiseTime:	3.2378
SecclingTiir.e:	71.4931
SecclingMin:	0.6121
SecclingMax:	1.6382
Overshooc:	63.8171
Undershooc:	0
Peak:	1.6382
PeakTime:	9.5895

_Time.(seęonds).

arallel ferm.

s=cf(•s•);

G=l/(10*3+1)*exp(-s);

Gp=l/(10*3+1)*pade(exp(-s), 1) ; Kp=l; Ki=l;

R=Kp+Ki/s;

%Maclab > R2010b [C info]= pideune(G,'pr')

Gz=feedback(G*R, 1) ; step(Gz) scepinfo(Gz)

łzawsze

[C info]= pideune(Gp,'pr') Gz=feedback(Gp*R, 1) ; step(Gz) scepinfo(Gz)

1

Kp + Ki *---

3

wirh Kp = 0.61518, Ki = 0.15101 ir.fo =

Scable: CrossoverFrequency: PhaseMargin:

1

0.1110

60.0000

ans =

fx

RiseTime:	3.3021
SecclingTime:	71.3813
SecclingMin:	0.6148
5ecclingMax:	1.6368
Overshooc:	63.6762
Undershooc:	1.8514
Peak:	1.6363
PeakTime:	9.7300