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Question: p124 knowledge of the expected behaviour of the common pid...

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P12.4 Knowledge of the expected behaviour of the common PID control configurations is valuable. In the following the investigation centres on PID with a second order plant model. dds) = dis Rs)s+ Y(s) a) Find G , Gand Y(), according to the diagram below R(s) Y (s) Gi(s) Y(s) dols) Ya(s) o(b) If the controller is set to K (s) =气+ (K s), for which Kp > 0 and K > 0 and the closed loop s stable, then prove that there is no tracking reference offset and that there is complete rejection of d () in steady state (c) The controller is set to K((G)-Kp+Kf, for which Kp >0 and K,> 0 and the closed loop is stable. Prove that, if the closed-loop system is represented in dar se ond-order tr n ertu a depend on sa ca e s by d and the selection of Kd has no effect on the steady state performance of tion omn, then ol engineering on 2019-01-2605:11:00

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