2.2.1 System closed loop equivalent form Determine the simplified closed loop equivalent form of the overall system block diagram presented in Figure 2.2. 2.3 Controller requirements (Calculations - 10 marks) The I-PD controller is required to meet or exceed the following response characteristics for a step change in demand position: 1) Maximum rise time t, of 0.15s. 2) Overshoot Mp less than 7%. 3) Settling time (error ≤1%) T. less than 0.20s. 4) Steady-state error of 0 for step. 2.3.1 Determining gains Use standard transfer functions or pole position methods to calculate the proportional (Kp). integral (Ki) and derivative (Kd) IPD controller gains for the overall system. Verify the gains calculated by implementing the system in Simulink. Discuss any trade-offs for exceeding the response requirements presented in Section 2.3. (Calculations - 20 marks) ک کے 2.4 Trial-error rules for PID tuning--- Ziegler-Nichols approaches The aim of this section is to demonstrate your ability to use the course knowledge to learn new techniques. Assumingly you have got a job in a control engineering company, your manager have asked you to take the following task: Research the literature and find out about manual tuning rules such as the Ziegler-Nichols technique. Tuning rules such as Ziegler-Nichols are difficult to implement on I-PD controller configurations. Convert your system to a PID controller configuration and apply a suitable tuning process (e.g. Ziegler-Nichols tuning rules) in order to meet/exceed the response characteristics outlined in Section 2.3. You should give a concise overview of PID tuning methods in this section and demonstrate the designed control system by Simulink. (Calculations 15 marks)