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Modern Control System EKT 308. Root Locus and PID controllers. PID Controllers. Proportional Controller. PID Controllers ( contd …). Integral controller. Derivative controller. PID controller. PID Controllers ( contd …). PID Controllers ( contd …).

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## Modern Control System EKT 308

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**Modern Control SystemEKT 308**Root Locus and PID controllers**PID Controllers**Proportional Controller**PID Controllers (contd…)**Integral controller**Derivative controller**PID controller**PID Controllers (contd…)**Effect of a PID controller on the system Fig 1: PID controller and the process**PID Controllers (contd…)**Whereas the original system had two poles and no zeros, now the controller + system has three poles and two zeros. The root locus of the system is shown in figure 2 below. Fig 2: root locus of system + controller**PID Controllers (contd…)**f) Angle of arrival at –z1 and –z2**The resulting PID+Systemhas**i) Percentage overshoot to step input , less than 2% ii) Steady state error for step input will be zero. iii) Settling time will be approax 1 sec. Lower settling time can be obtained by further adjusting Kd, Kp and KI**Frequency Response**By the term frequency response, we mean the steady-state response of a system to sinusoidal input. In frequency response methods, we vary the frequency of the input signal over a certain range and study the resulting response.**Plot of tan(theta) versus theta**Plot of atan(x) versus x**Step 2:**Step 3:**Step 4:**To be continued ….

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