### Simulation of PID Controllers Report

Added on - 20 Nov 2019

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IntroductionThe simulation of PID controller and various conditions of the system will be developed inmatlab Simulink. The step response and bode plot are will be calculated by linear analysis tool.The performance and characteristics of the controller is specified. Simulation of the ramp of2DOF output will be demonstrated in the matlab files. The stability and frequency response ofthe transfer function will be plotted. The Simulink model of non-linear and testing the modelwith forced input will be evaluated.1 – Stunt Control:Minimum Scope Areas1.Simulink of PID controllersThe above diagram shows that the simulation for PID controller in Simulink. The transferfunction is used in this PID controller to obtain the output. PID controller consists of two parts,namely Controller and power plant. In the controller session, Proportional controller, Integralcontroller and Derivative controller are connected by sum operation. The transfer function, gainand parameters are built in power plant. In the PID controller some values are assumed to getoutput.the controller values and transfer function are Kp=6, Ki=1, Kd=1 and n=[1 6 10],d=[1 0 7 1]. The simulation for the PID controllers is done by linear analysis tool for various
scenarios and conditions. The conditions are Step response, Bode plot and stability analysis. Alinear analysis tool is the one which control the design of Matlab Simulink. The bode diagram ofthe PID controller was demonstrated using linear analysis tool. In same way, step response andstability analysis (zeros and poles) was done in the linear analysis tool.Step response:The step response of the controller is shown in below.
Stability (zeros and poles)The zeros and poles of the controller is represented in this picture.2DOF PID Controller SimulationThe two degree of freedom with PID controller is shown in above screenshot. The Step inputsignal is given into the PID controller. Transfer function is connected to the PID controller and
transfer function assumption values are num = [1 6 10] and den = [1 0 7 1]. In the PID controllerassume the values of Kp, Kiand Kd(Kp=6, Ki=1, Kd=1). Two gains are used in this system.thevalues of the gain is m1=20 and m2=2 (assumed values).Four integrators are used in the 2DOFand these four integrators are connected to bus creator. Finally scope operator gives the output.The output of the above diagram is shown in below.2.Performance and RequirementsPerformance of the controller:1.It requires absolute measures. Metric must compare current quality control to theuniversal standard.2.Responsive to detuning or equipment issues or procedure model mismatch. Metric mustproduce a sign of these thing which the engineer for control able to disturb.3.The measures must sign the task to develop control, whether the issues due to valuesticking, oscillations from source of unknown or poor tuning.4.Determine the development in gain due to PID controller.Torque:  