For a plant with a nominal model given by 1 Go(s) = (S+ 2)(S + 4) (a) [5 marks] Design a controller using affine paramet

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For A Plant With A Nominal Model Given By 1 Go S S 2 S 4 A 5 Marks Design A Controller Using Affine Paramet 1 (28.31 KiB) Viewed 31 times

For a plant with a nominal model given by 1 Go(s) = (S+ 2)(S + 4) (a) [5 marks] Design a controller using affine parameterisation to achieve zero steady state error with all the closed-loop poles at s= -5. Give your answer in the C(s) form. (b) [5 marks] Suppose that the plant input u(t) is subject to actuator saturation constraints, such that the actual range of control is limited to u(t)| ≤ Umax. Design an anti-windup controller for C(s) in part (a). Draw a block diagram of your controller incorporating the anti-windup scheme. (c) [5 marks] Convert the controller, C(s), in part (a) to the parallel PID form, i.e. determine Kp, Ki, kd and to for k; kjs Cpid (S) = Kp + + S + s + == " S