Design a phase lag compensator for the control of the

Question

Question -

Design a PID compensator for the control of the Hilink motor position.

You may consider any tuning method described in the lecture notes or explore any additional strategies you can come across through research.

The compensator transfer function is given in the following form:

Gpid = (KdS² + Kps + Ki)/s

Design a phase lag compensator for the control of the Hilink motor shaft velocity

You may use a Bode diagram or root locus for the design. The compensator may be in the following form:

C(s) = (s-z0)/s-p0 where overall compensator is : C(s) = KClag(s)

You may wish to provide a comparison between proportional or PI control to help illustrate your results.