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Path: Common/Control
% Compute proper and non-proper transfer functions for a PID.
Compute proper and non-proper transfer functions for a set of PID gains
Call with no inputs to use default data for a demo.
Call with no outputs to produce a plot.
The transfer function from u to y is of the form:
KD s u
y = KP u + ---- u + KI ---
s + wR s
Notice that with smaller wR, the proper transfer function matches
the original PID (non-proper) transfer function over a higher frequency
range.
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Form:
data = PIDProper( KP, KI, KD, gamma );
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Inputs
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KP (1,1) Proportional gain
KI (1,1) Integral gain
KD (1,1) Derivative gain
wR (1,1) Derivative roll-off term
w (1,:) Frequency vector. Optional, default: logspace(-3,2)
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Outputs
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data (.) Data structure with fields:
- num Numerator of proper TF
- den Denominator of non-proper TF
- numNP Numerator of proper TF
- denNP Denominator of non-proper TF
- a A matrix of proper statespace
- b B matrix of proper statespace
- c C matrix of proper statespace
- d D matrix of proper statespace
- mag Magnitude response of proper TF
- phase Magnitude response of proper TF
- magNP Magnitude response of proper TF
- phaseNP Magnitude response of proper TF
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Common: Control/FResp Common: Control/FRespPlot Common: Control/ND2SS
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