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Chapter6ClassicDesign6.1Introduction6.2Indirectdesignmethod6.2IndirectdesignmethodThesystem’stransferfunctionisequivalenttothedifferentialequation(6.1)wherea=1/(RC)6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2IndirectdesignmethodExample:bode(1,[11])holdondbode([11],[3-1],1)Example:sysc=tf([119],[129]);sysdt=c2d(sysc,1,'tustin')Transferfunction:0.8824z^2+0.5882z+0.6471------------------------------z^2+0.5882z+0.5294Samplingtime:1>>bode(sysc)>>holdon>>dbode([0.8824.5882.6471],[1.5882.5294],1)Example:sysc=tf([119],[129]);sysdp=c2d(sysc,1,'prewarp',3)Transferfunction:0.9775z^2+1.891z+0.9326-----------------------------z^2+1.891z+0.9101Samplingtime:1>>dbode([.97751.891.9326],[11.891.9101],1)>>bode(sysc)>>holdon>>dbode([0.8824.5882.6471],[1.5882.5294],1)Comparisonofdiscretizationmethods6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2Indirectdesignmethod6.2IndirectdesignmethodInanincrementalalgorithm,theoutputofthecontrollershouldthenrepresenttheincrementsofthecontrolsignal.AdvantagesoftheincrementalalgorithmWhenthereexistsfailureincomputer,theinfluenceonthesystemissmaller.2.Impactofthecontrolissmallerwhenchangingbetweenmanualandautomaticmode.6.2Indirectdesignmethod6.2IndirectdesignmethodRemarks:1.Integratorwindup2.ModificationofDcontrolkTuningofPIDcontrolparametersStep-responsemethoda=RLExercise:1.,T=1,usingstepinvariance,backwardrectanglerule,bilineartransformation,prewarpingbilineartransformationmethodtodiscretizeD(s).Wherehaveprewarpingbilinearat,at,.2.PIDcontrollera.Usingbackwardrectangleruletodisc
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