With Cohen- Coon tuning formula to seek P, PI, PID' s parameters, which Gc is the corrector transfer function, kp the proportional coefficient, Ti the integral time constant, Td for the differential time constant, input parameters vars as with hysteresis- inertia model KT τ as input parameters vars with hysteresis- inertia of KT ι, the known parameters k = vars (1) T = vars (2) ι = vars (3).

cc01.m

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