DP12.8 A model of the feedback control system is shown in Figure DP12.8 for an electric ventricular assist device. This problem was introduced in AP9.11. The motor, pump, and blood sac can be modeled by a time delay with T = 1 s. The goal is to achieve a step response with less than 5% steady-state error and

P O. . ≤ 10%. Furthermore, to prolong the batteries, the voltage is limited to 30 V [26]. Design a controller using

(a) G s c ( ) = K s,

(b) a PI controller, and

(c) a PID controller. In each case, also design the pre-filter.

Compare the results for the three controllers by re

cording in a table the percent overshoot, peak time, settling time (with 2% criterion) and the maximum value of v t( ).