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"ANALOG" PLANT WITH A DIGITAL PID CONTROLLER -TMAX = 25 | DT = 0001 | NN = 700 | display N1 | display C8 -TS = 005 | -the simulated sampling rate is 1/TS m = TS * (NN - 1)/TMAX | -display points per sample -u = 07 | - step input maxtrq = 08 | R = 3 | -motor parameters -initial t, c, cdot all default to 0 x1 = 0 | x2 = 0 y = 0 | -must initialize y -precompute PID parameters KP = 3 | KI = 12 | KD = 02 B0 = KD/ TS | B1 = - KP + 05 * KI * TS - 2 * KD/TS B2 = KP + 05 * KI * TS + KD/TS -drun -DYNAMIC -torque = maxtrq * tanh(y/maxtrq) | - analog plant d/dt c = cdot | d/dt cdot = 10 * torque - R * cdot -SAMPLE m | -digital controller error = c - u y = B0 * q1 + B1 * q2 + B2 *(q2 - error) | - controller output Q1 = q2 | Q2 = q2 - error | -difference equations q1 = Q1 | q2 = Q2 | -update state variables FIGURE 2-4 Simulation of an analog plant with a digital controller Display commands are not shown word code 39 barcode font download Word 2013 code 39, microsoft word code 39 font, code 39 word download, free code 39 font for word, word code 39, word code 39 font, microsoft word code 39 barcode font, printing code 39 fonts from microsoft word, word 2013 code 39, IDAutomation Code 39 Barcode Fonts and to download a .
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