In this study, MBCF formulations for [K.sub.p] and [K.sub.d] parameters are presented, whereas designers have to determine three parameters ([K.sub.p], [K.sub.i], [K.sub.d]) for a PID controller.
This paper is organized as follows; Section II presents and introduces the MBCF formulations and the implementation procedure.
PROPOSED MBCF FORMULATIONS AND THE IMPLEMENTATION PROCEDURE
Proposed study contains two steps; in the first step, MBCF formulations for PID parameter calculation are obtained.
Proposed MBCF formulations for calculation of [K.sub.p] and [K.sub.d] parameters, which assigns two poles of nth degree characteristic equation, are obtained from (5) with the replacement of the terms in (7)-(10):