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Integral servo with PIDx(n-2)/2 stage PDA controllers for unstable systems
Author(s)
Date Issued
December 1, 2009
Type
Article
Abstract
This paper presents the Integral Servo Problem via PID x(n / 2)/2 stage PDAcontrollers for the Inverted Pendulum System as an unstable system to becontrolled. The problem is formulated by introducing an integrator to perform anaugmented system to the original plant. Once, the augmented system order isknown, the number of PDA's stage is also being determined. By using Kitti'sMethod (KM) to assign the location of both PID's zero first, and then find thelocation of the remaining zero of PDA and the loop gain KSd using the criteriaof Root-Locus Technique. The results from root locus diagrams revealed that theInverted Pendulum System is robustly stabilizable. Moreover, increasing of theloop gain KSd higher than the designed value, result in not only a fastersettling time is obtained, but also a response with smaller till no overshoot aswell. ICIC International © 2009.
Citation
Icic Express Letters, 3(4), 1073-1080, 2009