Texts: Exercise 3
A PD controller is used in a control system having a first-order process and a measurement lag as shown in Fig.E3.
(a) Find expressions for Kc and r for the closed-loop response.
(b) If T = 1 min and Tm = 10 sec, find Kc so that ξ = 0.7 for the two cases. Compare the offset and period realized for both cases, and comment on the advantage of adding the derivative mode.
(c) IU
T + 1
X
K
1 + Ts
Tma + 1