控制學問題 - 考試

想請問一題控制學問題, 是張碩跟詹森老師合著的書裡的

For the plant transfer function G(s)= E(s)/U(s), design a unity

PID feedback compensator U(s)=D(s)[R(s)-E(s)] such that s0 = -1 +/- j

are closed-loop poles, where


G(s)= 1/(s+2)(s+3), D(s)=Kp+Ki/s+Kd*s=Kd*(s^2+bs+a)/s

with Kd > 0, a= Ki/Kd > 0, and b=Kp/Kd >0.

Additionally, it is also required that the steadt-state error to

a unity ramp input is ess=1/10. FInd a, b, and Kd to meet the requirements


解答的開路轉移函數直接是G(s)*D(s)

但我看不太懂為什麼是這樣... 想知道有沒有人會解這題 或是可根據題意畫出方塊圖


謝謝!!


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