P制御器の影響

ctms.engin.umich.edu
以下の表の検証

clear; close all; clc;
Kp = 1;
Ki = 1;
Kd = 1;
s = tf('s');
P = 1/(s^2 + 10*s + 20);
t = 0:0.01:2;
rs = [];
sts = [];
os = [];
ses = [];
Kps = [];
for Kp=1:1000
  C = pid(Kp);
  T = feedback(C*P,1);
  [y,~]=step(T,t);
  info = stepinfo(T);
  Kps = [Kps Kp];
  rs = [rs info.RiseTime];
  sts = [sts info.SettlingTime];
  os = [os info.Overshoot];
  ses = [ses abs(y(end)-1)];    
end

yyaxis left;
plot(Kps,rs,'or');
hold on;
plot(Kps,sts,'ob');
plot(Kps,ses,'oc');
yyaxis right;
plot(Kps,os,'og');

legend('Rise time','Settling time','Stedy-state error','Overshoot');
xlabel('Kp');
big;

Kpを上げるに従って...
・Rise time: 減少
・Setting time: あまり影響なし
・Overshoot: 増加
・Steady-state error: 減少