Apply Ziegler Nichols PID tuning method and a second alternative PID tuning method for this motor shaft position control problem using Matlab simulations. Explain
Perform an analysis of controller performance using performance metrics of your own choice for both of your PID tuning methods. Evaluate the robustness of this controller to external disturbances.
Provide your conclusions from this simulation analysis.
The DC motor system of Section 2 is now discretised. Use Matlab to determine the open loop and closed loop Z-domain transfer functions of the discretised system.
Perform a root locus analysis of the discretised system in the Z domain. Select three different values of the sampling period to evaluate the effect of discretisation on stability.
Apply PID control in discrete time using Matlab simulations with the same sampling time periods as in 3b.
Compare the performance of PID control of 3c with an equivalent continuous time PID implementation using performance metrics of your own choice.