시간지연을 갖는 제어대상에 대한 P, PI 제어의 유효 게인 조정 범위에 관한 연구

A Study for the Available Adjustment Range of Gain at P, PI Control for the Retarded Processes

In this paper, a method to be able to decide the possible maximum gain of P, PI control for the retarded processes under stable condition is proposed. At first, adjustable parameter set causing stability limit are obtained based on the frequency domain condition which makes the roots of transfer function locate on the $j\omega$ axis. And the cut-in frequency $\omega{_p}$ to bring the parameter set to P control from PI control is derived by an equation with 2 parameters L and $T_m$ given, then $\omega{_p}$ is used to compute the maximum gain with stable condition. For the calculation, the controlled process of first order system with time delay element is introduced and all parameters are presumed to be time invariant.