SIMULANDO PID USANDO EL CRITERIO ITAE

G ( s )=

K
etds
s+1

G ( s )=

1
es
3 s+1

Control Regulador
0.1<=y=td/tao<=1.0
Controlado Criterio Criterio Criterio
r
ISE
IAE
ITAE
P

Kc=
a=
b=
Kc
PI
a1=

1.411
-0.917
3.8641

0.902
-0.985
2.6618

0.490
-1.084
1.6121

1.305

0.984

0.859

a
Y b
K

Kc=
b1=
a2=

-0.959
0.492

-0.986
0.608

-0.977
0.674

b2=
Kc

0.739
3.7426

0.707
2.9069

0.68
2.5127

i
PID
a1=

2.7075

2.2693

2.1087

1.495

1.435

1.357

b1=
a2=
b2=
a3=
b3=
Kc
i
D

-0.945
1.101
0.771
0.56
1.006
4.2220
1.1681
0.5563

-0.921
0.878
0.749
0.482
1.137
3.9471
1.5006
0.4146

i=

b
y
a2

K c=

a1 b
Y
K

i=

b
y
a2

-0.947
0.842
0.738
0.381
0.995
3.8407
1.5838
0.3831

a1 b
y
K

D=a3 y b

Z-N1/4

DATOS DEL SISTEMA CERRADO EN Z-N-1/4