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Controller Design (LQG/PiD?

Matlab code

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Nishat Pervez Meghoboti
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9 views

Controller Design (LQG/PiD?

Matlab code

Uploaded by

Nishat Pervez Meghoboti
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Problem 3.

1 :
MATLAB Code:
clc;
clear all;
L=1.54*10^-3;
R=7.94;
K_w=inv(2*3.1416*243/60);
J=27.8*10^-7;
B=15*10^-6;
K_s=0.96;
A = [ -R/L -K_w/L 0;
K_s/J -B/J 0;
0 1 0 ];
B = [1/L; 0; 0];
C=[0 0 1];
D=0;
sys=ss(A,B,C,D);
con=pid(1,.005,0.001);
figure(1)
bode(sys*con)
sys_cl=feedback(sys*con,1);
figure(2)
step(sys)
hold on
step(sys_cl,'r')
hold off

Fig 3.1: Close-loop figure.

1
Problem 3.2 :
MATLAB Code:
clc;
clear all;
L=1.54*10^-3;
R=7.94;
K_w=inv(2*3.1416*243/60);
J=27.8*10^-7;
B=15*10^-6;
K_s=0.96;
A = [ -R/L -K_w/L 0;
K_s/J -B/J 0;
0 1 0 ];
B = [1/L; 0; 0];
C=[1 0 0];
D=0;
sys=ss(A,B,C,D);
con=pid(0.1,225,0.000002);
figure(1)
bode(sys*con)
sys_cl=feedback(sys*con,1);
figure(2)
step(sys)
hold on
step(sys_cl,'r')
hold off

Fig 3.2: Close-loop figure.

2
Problem 3.3 :

MATLAB Code:
clc;
clear all;
L=1.54e-3;
R=7.94;
K_w=inv(2*3.1416*243/60);
J=27.8e-7;
B=15e-6;
K_s=0.96;
A = [ -R/L -K_w/L 0;
K_s/J -B/J 0;
0 1 0 ];
B = [1/L; 0; 0];
C=[0 1 0];
Kp = 0.0002;
Ki = 1;
Kd = 0.00000000076;
controller = pid(Kp,Ki,Kd);
sys_ol=ss(A,B,C,0);
figure(1)
bode(sys_ol*controller);
cl= feedback(sys_ol*controller,1);
figure(2)
step(sys_ol)
hold on
step(cl,'r')
figure(3)
step(cl)

Fig 3.3: Close-loop comparison figure.

3
MATLAB Code:
Problem 3.4 :
clc;
clear all;
L=1.54e-3;
R=7.94;
K_w=inv(2*3.1416*243/60);
J=27.8e-7;
B=15e-6;
K_s=0.96;
A = [ -R/L -K_w/L 0;
K_s/J -B/J 0;
0 1 0 ];
B = [1/L; 0; 0];
C = [1, 0, 0;
0, 1, 0;
0, 0, 1];
Kp=90000;
Ki=0.5;
Kd=0.0000003;
controller = pid(Kp,Ki,Kd);
sys_ol=ss(A,B,C,0);
sys_tf=tf(sys_ol)
figure(1)
bode(sys_ol*controller);
cl= feedback(sys_ol*controller,1,1,1);
figure(2)
step(sys_ol)
hold on
step(cl,'r')
figure(3)
step(cl)
Fig.-3.4: Open-loop and close-loop comparison figure

Performance analysis Table:

Function 𝑲𝑷 𝑲𝑰 𝑲𝑫 Rise Settling Overshoo Steady


, Time, Time, sec t of % -state
sec Error
C matrix
[0, 0, 1] 1 0.005 0.001 0.0875 0.155 0 1
[1, 0, 0] 0.1 225 0.000002 2.11 0.0882 0 1
[0, 1, 0] 0.000 1 0.00000000 0.0858 0.153 0 1
2 76
[1, 0, 0; 0.001 1.709 0 N/A 0 NaN Inf
0, 1, 0; 0, 9
N/A 0 NaN Inf
0,1]
N/A 0 NaN Inf

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