What is the corresponding transfer function between r and y??
I have tried $$ \frac{( \frac{k_i}{s}+k_p+k_d\ s )\times P(s)}{1-(-1)(\frac{k_i}{s}+k_p+k_d\ s)\times P(s)} $$
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Sign up to join this communityIf Kp
and Kd
are fed from the -1
block, then you have two loops; an inner loop and an outer loop. Solve the inner loop (q to y) using the feedback formula. To solve the inner loop, imagine that the parts shown in pink colour in the diagram below, are not present in the diagram. Replace the result ($\frac{Y(s)}{Q(s)}$) back into the diagram.
Now solve the outer loop $\frac{Y(s)}{R(s)}$ using the result from the inner loop. Use the feedback formula for that also.
I have redrawn the diagram to clearly show the two loops. (Check the redrawn figure for correctness).
-1
block to its input side. That results in two copies of the block.
$\endgroup$
Kp
andKd
come from the summing junction or the-1
block ? If it comes from the-1
block, it is somewhat suspicious. I think your answer is correct only if the input to theKp
andKd
are same as the input given toKi
. Otherwise, you can't add those terms. If I carefully look at the input lines toKp
andKd
, I can see that the lines are darker leading to the summing block. Hmmm.... suspicious.... $\endgroup$