I'm doing my homework, and encountered a problem.
The problem is the one as attached. It includes a part of solution that I don't understand.
I've known that when designing the PI controller, we start from D(s) = (Kp + Ki/S)
The condition of the PI controller is, firstly, unity DC gain.
So the way I started is setting D(0) = 1, but couldn't proceed anymore cuz there is 1/s
in D(s), also it is obviously different from the solution.
The second way was setting whole transfer function of the system Gcl(0) = 1,
but couldn't find the right solution.
According to solution, it approaches Kp and Ki separately.
And it uses (G(0)/(1+Kp*G(0))=1), but I can't understand this.
Could somebody help me out??
The problem is the one as attached. It includes a part of solution that I don't understand.
I've known that when designing the PI controller, we start from D(s) = (Kp + Ki/S)
The condition of the PI controller is, firstly, unity DC gain.
So the way I started is setting D(0) = 1, but couldn't proceed anymore cuz there is 1/s
in D(s), also it is obviously different from the solution.
The second way was setting whole transfer function of the system Gcl(0) = 1,
but couldn't find the right solution.
According to solution, it approaches Kp and Ki separately.
And it uses (G(0)/(1+Kp*G(0))=1), but I can't understand this.
Could somebody help me out??
