想请问一题控制学问题, 是张硕跟詹森老师合著的书里的
For the plant transfer function G(s)= E(s)/U(s), design a unity
PID feedback compensator U(s)=D(s)[R(s)-E(s)] such that s0 = -1 +/- j
are closed-loop poles, where
G(s)= 1/(s+2)(s+3), D(s)=Kp+Ki/s+Kd*s=Kd*(s^2+bs+a)/s
with Kd > 0, a= Ki/Kd > 0, and b=Kp/Kd >0.
Additionally, it is also required that the steadt-state error to
a unity ramp input is ess=1/10. FInd a, b, and Kd to meet the requirements
解答的开路转移函数直接是G(s)*D(s)
但我看不太懂为什么是这样... 想知道有没有人会解这题 或是可根据题意画出方块图
谢谢!!

Kd=10,b=5,a=6 ?

→(Ds)→(Gs)→

感谢强大热心的板友!! 这题解决啦!