rel="nofollow" href="#ua9d3ce24-c256-5ee3-b52b-e87d5c54fb61">8 PID Controller Design for Complex Systems
8.1 Introduction
8.2 PI Controller Design via Gain and Phase Margins
8.3 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
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 (
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 (
4 Chapter 9Table 9.1 PID controller parameters for different
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 (
