Design a continuous PI controller to achieve approximately 20% overshoot to a step input.
Set the integral action time to be in the range 0.8*Tdom < Ti < 1.2*Tdom ( but not equal to Tdom), where Tdom is the dominant process time constant.
A continuous PI controller is With a chosen value of Ti,
>> g=tf([0 2.5],[30 11 1])
>> sisotool(g1) this part have been done
3.2 A digital PI using backward difference discretisation, s = (z-1)/Tz, can be implemented in SIMULINK as shown in the following diagram. (Your diagram can be different from this).
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Set the sampling time in each so that one returns the values
Every sample time and the other returns the values in between samples, e.g. T/4.
Initially use a sampling time Tdom/10 then use two further sampling times, one faster and one slower