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Industrial Automation
Nested control of a continuous plant - example
Example: position control of a rotating shaft
Position
PID
sol
is cmd
Speed
sol
PID
is cmd
Torque
PID
sol
cmd
is
torque regulation
(protection)
amplifier
Current
Nesting regulators allow to maintain the output variable at a determined value
while not exceeding the current or speed limitations
36/40 2.2 Continuous plants and regulation
M
tacho
Velocity
Position
encoder