This example shows the simulation of a PID Controller used to stabilize a second order plant using

QFIRE Studio

.

Introduction

The

QFIRE CTR-101

implements a PID controller to control the plant represented by the transfer function below:

Simulation

Originally, the PID controller was designed in [1] to be:

The corresponding proportional, integral, and derivative gains are respectively:

, and , see Figure 1. As

QFIRE CTR-101

uses fixed-point, the values of the gains are not exactly the same as those designed, see Figure 1.

The control task was configured to have a sampling period of

as shown in Figure 2.

In Figure 3, the control system includes:

QFIRE CTR-101

controller, plant, and a feedback loop.

The plant is stabilized as in Figure 4.

Bibliographic References

[1] - Katsuhiko Ogata, Modern Control Engineering, Fourth Edition, Delhi: Pearson, 2003.