Good morning, parents.
Today, I will tell you about how to create the city controller in life.
So, first of all.
You have to go to control and simulation and simulation and lock.
OK, so for this purpose, you have.
To create a.
Control, insulation, this is my control insulation, you can.
Change any time, another time, ordinary differential equation from here.
There are these Anacleto, one, two, three.
Legrand's creations out of the ordinary differential equations are there.
And this is the continuous time, step and tolerance.
You can set it for your performance.
So for this purpose, first I take a step signal.
This is my desk signal, then I'm using a.
Submission block,
this is my input or reference, then I take a body controller in continuous.
I have a very controller.
Look, it takes error from the assumption and it is the output of this function.
And then I have a concert function or a process model, I can set it, for example.
Double click on this.
My transfer function will be then upon.
Two squared plus two plus one, a second order, sister.
OK, this is my.
Second-order also function.
So I.
Give it to.
The output of the controller is added to the function order process.
This process model, maybe a motor racing motor, maybe a fan, maybe a heater or anything.
Any process, it may be a second order because the body would stand up to only second order and higher
order systems out of their body.
They don't work for third order, ordering a second order only.
So after this, I'm taking a.
Utility Grauwe.
In which I take the output of step for this purpose, I'm taking a a function.
It can erode those signals like.
My step signal is very, very to and the output of my.
Ben.
I'm taking the community feedback.
This is my community feedback and over here.
As you see.
Only you can sack.
The values.
Or by using this so I'm reading it, ending it to terminate.
OK.
And I change it to terminal.
It gives me.
Proportional error.
Right now, only a aletter.
Then again, for intriguer, I'm again on Feb. two and for the reality also I'm Configurator Erminio,
so I go to the.
Anyone else for this Casey Anthony, for that purpose, I'm creating a control signal over the.
This is the.
This is my.
And Trigo.
And this is my.
Federative.
So this is all about the controller.
Now we have to test the output.
All this so go to I go to Frank Bennett.
It is my.
Revalues.
My reference signal is a step signal.
Under this set, automatic.
So first, I is zero in that regard and I hit a button.
As I hit one button, it takes some time, and this is the output of the controller for my sister.
Air Lord one.
Shows means Buechler is the reference signal.
And this is the output.
Using the highly controlled.
So this is my sister.
From here, I go to our airport as I continue.
As I increase the proportion you gain.
As you see.
There is a difference because the ambulance scale is on YouTube, scale is on automatic.
So I first.
Remuda or fossicking?
And also, Eskil, so I said to do and not do X should be one point six in this case and this is minus
point.
To.
OK, you can change the color of this output or weight or.
Think.
So this is my body controller.
As I continue on it.
As I increase the cost again, as you see.
The response and as I increase the and game, you can see the effect of political gain and as I increase
the.
The riveting.
Setpoint one.
Between two, three, four.
It gives me the response of the controller.
So this is all about body control in the next video.
I will tell you how to tune these Fagin's, Casey IPE and any means, but again and again and derivate
using Ziggler Nicolas technique.
And.