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(P) 100%

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error
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Neutral Zone




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0
error
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dp
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error
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Floating
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Controller Floating Floating
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Application
            


Controller
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error
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2.4 CONTINUOUS CONTROLLER MODES


  
 
 
 
     
      
          
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2.4.1 Proportional Controller Mode


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Controller
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100 % Saturation
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error
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error
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t
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Controller
o/p
P
t
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R(s) E(s) P(s)


kp 1
C(s)
1 + TS
Controller Process




        
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Controller t
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(Integral Mode) (Process)

1 P(s) 1
R(s) C(s)
Tis 1 + Ts



   
  

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P + I controller (Process)
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E(S) P(S)
Kp (1 + TdS)




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error At
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t
t = t1

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t
t = t1
D-only

t
t = t1

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P+D
n
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P +D

t
t = t1


 

Controller Process

R( ) Kp(1 + T ) 1
1+T


       





 
  
  
      

   


 
  
      

   

   

        
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2.5.3 Proportional + Integral + Derivative Controller


Mode
[+  +  Mode]
   


     
    
 
  
    

  



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E(S) 1 P(S)
Kp 1 + + T dS
TiS

Characteristics of + +  controller


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E(s) 1 + T 2s 1
 1 + T 1s P(s)
Ts

          
        
    

    
            
    

  
       
             

             


       
  
               
           
 
 
 

   
            
    

   
       
   

E(s) 1 + T 1s 1
 1+ P(s)
T2s

   
      
  



   
         
     

   
          
    

    
         
    

        
    
       

          
 

2
 E(s) (1 + Ts) P(s)

 
  

  
    
   
 


 



   

        



   
  
    


 
          
 

    
          
    
  

    


 


1
 E(s) T 1s P(s)
T2s

    
         
      

    

 
 

T1
E(s) +
P(s)

+
T 2s

() = [1 + 2 ]().

   
() = 1 1  2 .    E(s)
  1   

It is  +  controller
 =  1  = 2 /1

 () = [1 +  1 +  22 2]().


Put =


  
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let = .


 
=    + 1  +  22

It is  controller.
Applying laplace transform.

 1 
() = 1   22   ()
  

  1  2  
() = 1 1   2 .    ()
  1 1  

22
 =  1  =  1  =
1
 

 
    

   


  
   
     

 
   
  
 
  
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