Double integrator system

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  • #1171
    jairoviola
    Participant

    Greeting to all

    I have a question

    How do you do to tune the FOPID controller for a double integrator system????.

    I notice that in some cases, the optimizer cannot find a valid answer and when it find an answer, it doesn’t met with the design criterion.

    thank you

    #1172
    Aleksei
    Keymaster

    Hi,

    If you consider a plant of the form $G(s)=k/s^2$ and a controller of the form $C(s)=K_p+K_i /s^{\lambda}+K_d s^{\mu}$ then here are a couple of points to consider.
    1. You may want to cancel the effect of the second integrator. Thus the structure of the controller is of PD type.
    2. By changing the parameters $K_p$, $K_d$, and $\mu$ it is possible to satisfy some specifications in both time and frequency domains. Keeping $K_p$ small and $\mu$ close to 1 will ensure the effect of (partial) cancellation one of the poles $s=0$ of the double integrator system.

    • This reply was modified 4 years, 9 months ago by Aleksei.
    • This reply was modified 4 years, 9 months ago by Aleksei.
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