Design of PPD Controllers for Position Servos

In this paper the classical time domain design problem of position servoactuators having proportional plus derivative (PPD) error controllers is reconsidered. Control system stability is represented by percentage overshoot and the speed of response by peak time. The associated design equations are strongly coupled and nonlinear. Design curves are presented to facilitate the realization of fast yet accurate designs. A design algorithm that generates exact values for the controller parameters is given. A numerical example is included to illustrate the design procedure.