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Good morning, friends.

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May I tell you, second method to tune up the controller, which is dangerous and even dangerous, and

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Luban gives a table according to which I got the body values, so it will start now.

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So here is my panel of my body controller, which is assigned to RBC Motor.

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The Motor Transportation is this second order transfer function and it gives my block diagram below.

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Over here I create a DC motor using these values and this is my magic window.

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Here is my DC motor, the transfer function of this motor.

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And this is my body controller.

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Here is my kepi.

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This is my gear.

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This is my kid.

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And this is my step input.

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And this is my motor transfer function from the outside.

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Using these changes by attending these constant value, I can change the transfer function well.

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So in this method, I got the step response and the response of my motor on the same graph from controller

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and simulation loop.

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From here you can change initial time and finally time, different ordinary differential equations,

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solvers.

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You can get better response.

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In this case, I am using it in that water cooler.

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I thought here is my step size zero point zero zero one.

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So now how to tune body controller.

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So first you have to set it the same as the method.

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First you have to set your personal controller, value one and run your window.

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In this case, you see your wrist oscillations dial.

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So, again, you have to increase your proportional controller.

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I set out to do and I got some type of this type of response, increasing oscillations.

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So I stopped my way in this case.

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And I have to put some value, less than two and greater than one.

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So I put one point one million.

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I increase again, run in this case.

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I see my oscillations again die out.

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So I put over here value to one point two million, in this case, my oscillation increasing.

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So my value of Capi should be less than one 1.0.

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So I put one and again one.

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So here again, it is increasing type oscillations you have you can see out here.

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So you have to put here at zero and then again one.

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So like this, you have to set your mind to keep value when you got your sustained oscillations like

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in this case again, Deyo.

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So again I increase again.

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Dialo.

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So like this I have to set a value at which I got the sustained oscillations.

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So I go to the PD.

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This is the class function of my busy motor and I use these values, KTLA, RTG and be given Kitty to

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find out this transfer function.

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This table is given by Tirhas and Luján, which required two variables.

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First one is Guiyu, which is called Ultimate Gain, and second one is B, it is Ultimate Player.

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So this is the procedure.

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First, you said your capi value one and Ranvir B after that I got this value for my transformation

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one point one zero eight for point at which I got the sustained oscillation means my language.

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They speak, they speak, they speak and they speak and have the same value.

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There is no Dekay and not increasing.

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So I go to the sustained value, sustained oscillations in this case.

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So this value, when you get a sustained oscillations, it is called your ultimate gain.

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It is called give you the value of kepi at which we go to the sustained oscillation is called the ultimate

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gain.

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And the period of this wave is called ultimate period.

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I explain this and calculate the period from here to here.

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It is the period of may be sustained oscillation will.

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So this is my bill and in this case I got my Guiyu is correct, one point one zero eight four and Maipu

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is zero point zero zero seven.

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So using these two values, I have to put these KUOW in this formula and I got the final VAD controller

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for the European Union method.

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So I put these values in my body over here.

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I have to put these values over here and I got the result.

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That's the result of errors.

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And Louvain is better than the class method.

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But in industry, Ziggler Nicolas method is very popular.

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It is uses for volume control and any other processes in oil also uses this tuning method for to control

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the world and opening and closing of the different valves.

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So this is my bias and Libyan method for tuning of the controller.

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So this is all about today's lecture Tanko.