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M3=zpk([3,-4],[0,-2,-10,-15],[100])
H=tf(M3)
Ps : et en contraire
M4=Zpk(M1)
« zero » pour définir le zero de système
zero(M1) 0
zero(M2) -0.2
zero(M3) 3 et -4
pole(M3) 0
-2
-10
-15
Pole-Zero Map
1.5
System: M2
Pole : -1 + 1.41i
Damping: 0.577
Overshoot (%): 10.8
1 Frequency (rad/sec): 1.73
0.5
System: M2
Zero : -0.2
Damping: 1
Overshoot (%): 0
Imaginary Axis
-0.5
-1 System: M2
Pole : -1 - 1.41i
Damping: 0.577
Overshoot (%): 10.8
Frequency (rad/sec): 1.73
-1.5
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
Tunning a PID controller :
1. Definition of the system transfer function:
G1=tf([1],[1 3 1])
Or
S=tf(“s”)
G1=tf(1/(s^2+3*s+1))
H=[1];
F1=feedback(G1,H)
p=tf("p");
G1=tf([1],[1 3 1]);
H=[1];
step(G1)
hold on
F1=feedback(G1,H)
step(F1)
4. Characteristic of the system(with feedback)
Overshoot =0%.
Settling time=10.7s
Rise time=5.86s.
Steady state=1
F2=feedback(C1*G1,H)
step(F2)
to tune the PID controller we need to start with the proportional parameter first then, switch to
another.
6. Conclusion:
At the end we have tuned the PID controller manually using MATLAB