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Add PI tests graph

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Assignment 4 - PI/README.md
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@ -5,7 +5,7 @@ This dir is belong to Control System class contains with Integral Effect on Cont
This program ran in Matlab This program ran in Matlab
## Variables ## Variables
`s = tf('s');` defines s as 'frequency domain' for transfer function and will be used further. `s = tf('s');` defines `s` as 'frequency domain' for transfer function and will be used further.
``` ```
J = 0.01; J = 0.01;
b = 0.1; b = 0.1;
@ -63,7 +63,14 @@ For Kp = 1
| Overshoot | 0 | 0 | 0 | 0.3523 | 0 | | Overshoot | 0 | 0 | 0 | 0.3523 | 0 |
| SSE | 1.7396e-06 | 0.0034 | 0.0033 | 0.0034 | 6.6536e-05 | | SSE | 1.7396e-06 | 0.0034 | 0.0033 | 0.0034 | 6.6536e-05 |
Notes: In theory, SSE should decrease following the increased Ki, but i suspect Matlab just can't compute too much floating point. Hence, i add two additional test with larger constant to show the effects. ![Kp = 1, Ki = 1](https://user-images.githubusercontent.com/77116615/189711219-a3d00c73-0902-4a3f-899c-aca785cf0e6c.png)
![Kp = 1, Ki = 3](https://user-images.githubusercontent.com/77116615/189711238-016657a1-8b3d-4209-8033-192464c00bed.png)
![Kp = 1, Ki = 5](https://user-images.githubusercontent.com/77116615/189711244-acaa9905-21dc-4e80-915e-c628775a6665.png)
![Kp = 1, Ki = 7](https://user-images.githubusercontent.com/77116615/189711248-cdac4205-6511-460d-8eb8-96378564774e.png)
![Kp = 1, Ki = 9](https://user-images.githubusercontent.com/77116615/189711253-c2a2208c-fdb8-4640-b419-b2909250ed0e.png)
Notes: In theory, SSE should decrease following the increased Ki, but i suspect Matlab just can't compute too much floating point. Hence, i add two additional test below with larger constant to show the effects.
## Additional Testing ## Additional Testing
For Kp = 50 For Kp = 50
@ -74,6 +81,10 @@ For Kp = 50
| Overshoot | 19.6150 | 6.1627 | | Overshoot | 19.6150 | 6.1627 |
| SSE | 0.1127 | 0.0082 | | SSE | 0.1127 | 0.0082 |
![Kp = 50, Ki = 0](https://user-images.githubusercontent.com/77116615/189711364-d43497e7-d0f4-4c2d-bdfe-d66c792d7e88.png)
![Kp = 50, Ki = 5](https://user-images.githubusercontent.com/77116615/189711372-33a51860-2c9c-4b43-a01c-f31a7f9de2df.png)
## Conclusion ## Conclusion
Based on previous tests, we conclude that by adding Integral constant : Based on previous tests, we conclude that by adding Integral constant :
* Risie time is **increased** * Risie time is **increased**
@ -85,4 +96,4 @@ Based on previous tests, we conclude that by adding Integral constant :
Contact nanda.r.d@mail.ugm.ac.id for more information Contact nanda.r.d@mail.ugm.ac.id for more information
### Links ### Links
You can access the source code here You can access the source code here
[github.com/nandard/routh_table.git](https://github.com/nandard/routh_table.git) [github.com/nandard/routh_table.git](https://github.com/nandard/routh_table.git)