[ G_c(s) = 2.4 + \frac1.53s + 0.942 s ]
): Reacts to the current error; increasing it reduces rise time and steady-state error but increases overshoot. Accumulates past errors to eliminate steady-state error. Derivative ( Kdcap K sub d control pid ejercicios resueltos
( D(k) = K_d \frace(k) - e(k-1)T_s = 0.5 \times \frac3 - 2.50.1 = 0.5 \times 5 = 2.5 ) [ G_c(s) = 2
( K_d = 8 ), ( K_p = 32 ), ( K_i = 24 ). Error a rampa: para sistema tipo 2 (gracias al integrador), error = 0 teórico. Se cumple especificación holgadamente. ( K_p = 32 )