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¡ÒÃ¤Çº¤ØÁáºº derivative ¹Ñé¹¨Ðà»ç¹¡ÒÃ·ÓãËé overshoot ÁÕ¢¹Ò´¹éÍÂÅ§·ÓãËé ÊÒÁÒÃ¶à¢éÒã¡Åé steady state ä´éàÃçÇ¢Öé¹¨Ò¡ tranfer function ¹Õé

ÊÒÁÒÃ¶à¢ÕÂ¹à»ç¹ block diagram ä´é´Ñ§¹Õé

«Öè§ªØ´¢Í§¡ÒÃ¤Çº¤ØÁ¹Õé¡ç¤×Í ª¹Ô´ proportional-derivative «Öè§ÁÕ tranfer function

«Öè§ÊÑÒ¹¤Çº¤ØÁ·ÕèÊè§ä»ÂÑ§ process ¹Ñé¹ ¤×Í

â´Â·Õè Kp ¤×Í ¤èÒ¤§·Õè¢Í§ÊÑ´ÊèÇ¹ áÅÐ Kd ¤×Í ¤èÒ¤§·Õè¢Í§Í¹Ø¾Ñ¹¸ì
àÃÒÊÒÁÒÃ¶ ÊÃéÒ§à»ç¹Ç§¨ÃÍÔàÅç¤â·Ã¹Ô¤ ä´é´Ñ§¹Õé

µÑÇÍÂèÒ§Ç§¨Ã Hardware

àÃÒÊÒÁÒÃ¶à¢ÕÂ¹ m-file ÊÓËÃÑºâ»Ãá¡ÃÁ MatLab ä´é´Ñ§¹Õé

Kp=500;

Kd=10;

numc=[Kp Kd];

[numCL, denCL] = cloop(conv(num,numc),den);

step(numCL,denCL,t)

Kd ¨Ðà»ç¹¤èÒ·Õè¨Ð·ÓãËé Overshoot áÅÐ Undershoot ÁÕ¢¹Ò´àÅç¡Å§´Ñ§áÊ´§ã¹ÃÙ»

àÁ×èÍÂÑ§äÁèä´é¡ÓË¹´¤èÒ Kd ( Kd = 0 )

àÁ×èÍ¡ÓË¹´¤èÒ Kd = 10

àÁ×èÍ¡ÓË¹´¤èÒ Kd = 100