Assignment

Please, submit your Assignment as a single PDF document.

The necessary parts of you Assignment should address the following parts:

Task I: Identification

Report the identification procedure and the evaluated results including:

• gain: Z = ( y(inf) - y(0) ) / ( u(inf) - u(0) )
• time constant: T -> based on principle of 63% of gain
• figure of input step change
• figure of output step response

Task II: Closed-loop control

Report the PID controller design and closed-loop control setup including:

• designed parameters of PID controller by Ziegler-Nichols method:
  • Zr
  • Ti
  • Td
• manually tuned parameters of PID controllers:
  • Zr
  • Ti
  • Td
• figure of closed-loop control trajectory considering the step changes of reference

Task III: Judge the control performance

Report the closed-loop control performance considering:

• settling time for the step changes of reference
• maximal overshoot for the step changes of reference, where maximal overshoot is given by: overshoot = ( y_max - y(inf) ) / ( y(inf) - y(0) )*100%

Task IV: Conclusions

Discus the evaluated results and summarize the main conclusions.