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Repeat steps b-e for creating the following snippet for Ziegler-Nicholas generic
function:
function Wc = ZieglerNicholasPID( Kc,Ti,Td )
% ZieglerNicholasPID function to generate the PID controller transfer
%% Parameters
% Kc : Critical gain
% Ti : Reset time (minutes)
% Td : Derivative time (minutes)
%% Function implementation
s=tf('s');
Wc=Kc*(1+(1/(Ti*s))+Td*s);
End
g. The final function bonds the two functions (plant and controller) to build the
closed loop system:
Kc tI tD
P control Ku/2
PI control Ku/2.2 Pu/1.2
PID control Ku/1.7 Pu/2 Pu/8