Aspects of Pole Placement Technique in Symmetrical Optimum Method for PID Controller Design
| Authors: | Nicolau Viorel, “Dunarea de Jos” University of Galati, Romania
Miholca Constantin, “Dunarea de Jos” University of Galati, Romania
Aiordachioaie Dorel, “Dunarea de Jos” University of Galati, Romania
Ceanga Emil, “Dunarea de Jos” University of Galati, Romania |
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| Topic: | 2.2 Linear Control Systems |
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| Session: | Control of Linear Systems II |
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| Keywords: | PID control, pole placement, symmetrical optimum method, autopilot |
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Abstract
The paper presents an analytical approach to the design of PID controllers by combining pole placement with symmetrical optimum method, for the integration plus first-order plant model. The desired closed-loop transfer function (c.l.t.f.) contains a second-order oscillating system and a lead-delay compensator. It is shown that the zero value of c.l.t.f. depends on the real-pole value of c.l.t.f. and in addition, there is only one pole value, which satisfies the assumptions of symmetrical optimum method. In these conditions, the analytical expressions of the controller parameters can be simplified. The method is applied to design a PID autopilot for heading control of a ship with first-order Nomoto model.
