Control System Assignment Steps Final
Control System Assignment Steps Final
For this exercise, let's assume wn = 1 rad/s (common for simplicity), z = 0.5.
To convert from the S-domain to the Z-domain, use the bilinear transformation:
The target form is similar to G(z) = 0.5*z_i / (1 - 0.4*z_i). After simplifying G(z), see if it aligns with
this form.
Define your G(z) transfer function and use Python to plot the response. Example:
t, y = ctrl.step_response(Gz)
plt.plot(t, y)
G_closed(s) = KH / (1 + KH)
T = 1.0
G_closed = ctrl.feedback(H_open_loop, 1)
Repeat the process for step response, but with the PID controller added to simulate the closed-loop.
Take the inverse Z-transform of closed-loop G(z) and write as a difference equation:
y[n] = a1*y[n-1] + a2*y[n-2] + b0*u[n] + b1*u[n-1] ... Implement as discrete time simulation.