25.6 : PI 제어의 시간 및 주파수 영역 해석

Everyday devices like thermostats utilize PI controllers. These can enhance system damping and reduce steady-state error when the controller transfer function's zero is optimally placed.

As a low pass filter, the PI controller slows response and extends settling times. Effective design positions the zero near the start, away from major poles, with minimal proportional and integral gains.

The transfer function is depicted in a Bode plot. Inadequate proportional gain may result in steady-state errors, while attenuation and stability involve proportional and derivative components.

The controller's negative phase can impact stability. To prevent phase lag from reducing the system's phase margin, the corner frequency should be as far left as allowed by bandwidth requirements.

The compensated transfer function should intersect the zero-decibel axis at the new gain crossover frequency for the desired phase margin. The integral to proportional gain ratio should relate to a significantly lower frequency.

Designing a PI controller requires careful selection of integral and proportional gains to avoid a large capacitor in the circuit, a challenge more significant than with a PD controller.