PID Control System Design and Automatic Tuning using MATLAB/Simulink. Liuping Wang

PID Controller Design using Two Frequency Points 8.4 PID Controller Design for Integrating Systems 8.5 Summary 8.6 Further Reading Problems

      14  9 Automatic Tuning of PID Controllers 9.1 Introduction 9.2 Relay Feedback Control 9.3 Estimation of Frequency Response using the Fast Fourier Transform (FFT) 9.4 Estimation of Frequency Response Using the frequency sampling filter (FSF) 9.5 Monte-Carlo Simulation Studies 9.6 Auto-tuner Design for Stable Plant 9.7 Auto-tuner Design for a Plant with an Integrator 9.8 Summary 9.9 Further Reading Problems Note

      15  10 PID Control of Multi-rotor Unmanned Aerial Vehicles 10.1 Introduction 10.2 Multi-rotor Dynamics 10.3 Cascade Attitude Control of Multi-rotor UAVs 10.4 Automatic Tuning of Attitude Control Systems 10.5 Summary 10.6 Further Reading Problems

      16  Suggestions to Food for Thought Questions

      17  Bibliography

      18  Index

      19  End User License Agreement

      List of Tables

      1 Chapter 1Table 1.1 Ziegler–Nichols tuning rule using oscillation testing data.Table 1.2 Ziegler-Nichols tuning rules with a reaction curve.Table 1.3 Cohen–Coon tuning rules with a reaction curve.Table 1.4 Padula and Visioli tuning rules (PI controller).Table 1.5 Padula and Visioli tuning rules (PID controller).Table 1.6 Wang–Cluett tuning rules with reaction curve (

). Table 1.7 PI controller parameters with reaction curve.Table 1.8 PI controller parameters with reaction curve.Table 1.9 PI controller parameters with reaction curve.

      2 Chapter 2Table 2.1 Routh–Hurwitz table.Table 2.2 Routh–Hurwitz table for the third order system.Table 2.3 Modified PI controller parameters with gain margin, phase margin, a...

      3 Chapter 8Table 8.1 Normalized PID controller parameters (

,

). Table 8.2 Normalized PID controller parameters (

,

).

      4 Chapter 9Table 9.1 PID controller parameters for different

values. Table 9.2 PID controller parameters and mean squared errors from the control ...

      5 Chapter 10Table 10.1 Quadrotor hardware list.Table 10.2 Quadrotor parameters.Table 10.3 Flight controller and avionic components.Table 10.4 Physical specifications of the hexacopter.

      List of Illustrations

      1 Chapter 1Figure 1.1 Proportional feedback control system.Figure 1.2 Closed-loop step response of a proportional control system (Examp...Figure 1.3 Proportional plus derivative feedback control system (

).Figure 1.4 PD controller structure in implementation.Figure 1.5 PI control system.Figure 1.6 Closed-loop step response of a PI control system (Example 1.2).Figure 1.7 IP controller structure.Figure 1.8 Closed-loop step response of PI control system (Example 1.3). Key...Figure 1.9 PID controller structure.Figure 1.10 IPD controller structure.Figure 1.11 Step responses of PID control system (Example 1.4). (a) Response...Figure 1.12 Sustained closed-loop oscillation (control signal).Figure 1.13 Comparison of closed-loop output response using Ziegler–Nichols ...Figure 1.14 Step response data. (a) Input signal. (b) Output signal. Key: li...Figure 1.15 Unit step response (Example 1.6)Figure 1.16 Closed-loop unit step response with PI controller (Example 1.6)....Figure 1.17 Unit step response (Example 1.7).Figure