MIE334 Assignment 5 2b) The following values are the values that produce the lowest squared error

r value of 0.0555. Kp Ki 0.008 0.12 st Table 1 Values for 1 method 2c) Kd 0

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Figure 1 Graph for 1st method 2d) Overall the tuning of the system was rather tedious and time-consuming, if not difficult. The increase in the kd value to a non-zero value greatly changed the squared error value. Both positive and negative changes to the Ki and Kp values resulted in squared error values that were greater. However the change in squared error values in these cases was very minor, and actually still resulted in the squared error to be in the sufficient range.

3a) For my second method of integration I chose to use the combination of the trapezoidal rule and the Simpsons rules. I estimate that this method will improve the output as this method has the ability to integrate many different functions that have evenly spaced points.

3b) The following is the graph using the trapezoidal and Simpsons rules, whilst using the same input values from the first method. The squared error, while still in the acceptable range, greatly increased to 0.6496. The graph has a greater amount of oscillations than the first graph and while the first graph converges rather quickly, this graph takes much longer to converge. Also the coefficients in the first method were adjusted.

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Figure 2 Graph for 2nd method using values from 1st method

3c) The following values are the values that produce the lowest squared error value of 0.2249

for the trapezoidal rule and Simpsons rule integration. Kp 0.007 Ki 0.07 Table 2 Improved Values for 2nd method Kd 0

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Figure 3 Graph for the 2nd method with improved values Contrary to what I anticipated the second method of integration produced a squared error value that was larger than the value that was obtained in the first method. While the difference in squared error values is not drastic, I believe the first method would be a more accurate method to use. The graphs of both functions converge to the reference function around the same time, however, the graph of the second function oscillates through a greater range of values than the first graph. Larger oscillations increase the fluctuations and increase the error, so it is best to choose the first method of integration in this scenario.