simulation

MauriceData/InnerCtrl.m

+T=0.02;
+syms z Ki Kp
+
+Km=1;
+Tm=0.1662;
+
+
+A = (T*Km/Tm)*(T*Ki*(z+1) + 2*Kp*(z-1));
+B = 2*(z-1)*(z+(T/Tm)-1);
+
+CharEqn = B+A ;
+
+riseTime = 0.085;
+omega = 1.8/riseTime;
+settlingTime = 0.17;
+zeta = 4.6/(omega*settlingTime);
+
+dclp = roots([1 2*zeta*omega omega^2])
+dclpz = exp(dclp*T)
+
+eqn1 = 0.5*(-3.7594+0.002407*Ki + 0.2407*Kp) == -(dclpz(1)+dclpz(2));
+eqn2 = 0.5*(1.7594 + 0.002407*Ki - 0.2407*Kp) == dclpz(1)*dclpz(2);
+
+ sol = solve([eqn1, eqn2], [Ki, Kp]);
+ Ki_Sol = sol.Ki;
+ Kp_Sol = sol.Kp;
+ 
+ Ki_Sol = vpa(Ki_Sol,4)
+ Kp_Sol = vpa(Kp_Sol,4)
+%solve(CharEqn,Ki,Kp)
\ No newline at end of file