PIDesign:
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Design a PI controller of the form
y = cx + du
x = ax + bu
using pole placement. Inputs are the damping ratio and undamped natural
frequency of the desired closed loop poles.
If no outputs are requested then Bode plots for the controller will
be drawn.
To ensure that the gain at ƒ is less than 1 make certain that
2*zeta*wN*inr < 1
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Form:
[a, b, c, d, wC, k] = PIDesign( zeta, wN, inr, tSamp, sType )
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Inputs
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zeta Damping ratio
wN Undamped natural frequency
inr Axis inertia
tSamp Sampling period
sType State equation type ('Delta' or 'Z')
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Outputs
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a Plant matrix
b Input matrix
c Output matrix
d Feedthrough matrix
wC 0 dB Crossover
k Gain at infinity
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Children:
Common: Control/C2DZOH
Common: Control/C2DelZOH
Common: Control/FResp