Question: The Bode stability technique is applied in this chapter to develop the Ziegler-Nichols closed-loop tuning method. For each of the following changes describe an appropriate modification to the closed-loop ZieglerNichols tuning method. Answer each part of this question separately. id) The controller used in the plant calculates the error with the sign in verted; E = CV - SP.
(b) The linear plant model identified using a process reaction curve also has an estimate of the uncertainty in its feedback model parameters, Kp, θ, and τ.
(c) The process model, in addition to parameters for the feedback process, has estimates of the disturbance dead time and time constant.