Control Basics - MAELabs UCSD
Control Basics - MAELabs UCSD
Control Basics - MAELabs UCSD
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xc +<br />
-<br />
System transfer function - PID<br />
e 1/R<br />
G = KP + KI s + K !<br />
!<br />
$ 1<br />
#<br />
Ds&<br />
# R<br />
"<br />
% # 1+ s L<br />
" R<br />
H =1<br />
K<br />
V I<br />
1+s(L /R)<br />
( )<br />
Km<br />
MAE 156A<br />
$<br />
&<br />
&<br />
%<br />
K !<br />
#<br />
#<br />
m #<br />
#<br />
"<br />
!<br />
#<br />
"<br />
ms 2 + c + K m K e<br />
open loop transfer function = GH<br />
closed loop transfer function =<br />
F 1<br />
ms!+(c + KmKe )s+k<br />
(R+sL)<br />
$<br />
&<br />
1 &<br />
$ &<br />
( R + Ls<br />
&s + k &<br />
) &<br />
% %<br />
G<br />
1+ GH<br />
( )<br />
x
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