Controller Tuning for an Object with Astatism of 2nd Order for Learning Purposes

The present paper investigates the essentials of a controller tuning for an object characterized by 2nd order astatism. This object can serve as a steam boiler model aimed at providing the reference water head in the closed loop system with a proportional-differential controller. Several methods of optimal controller tuning are considered. The corresponding response curves as well as frequency responses of the system are presented to validate the tuning methods. The values of response time, overshooting, gain and phase margins satisfy the requirements applied to the systems under consideration. The resulting closed loop control system serves as a basis for developing a virtual reality (VR) learning environment for bachelor students major in power engineering and related fields. Employing an integrative learning approach into the training process allows students to acquire solid knowledge in control systems by using foreigh literature related to control systems domain.