Work in class 7 / Examen Parcial 3

 Remake the simulation given in the paper was send by

mail.
 Only case 2.
 Find out the ITSE index.
 Vary the PID gains to prove the ITSE index has been the
minimum result.
 Describe the code used for the simulation.
 Compare the ITSE results.
 Plot both trajectories.

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Examen Parcial 3

 A DC motor has a dynamics model given by:

with the parameters:

1. Find out, the PID gain values by means of Ziegler-Nichols tuning.

2. Use these values as initial conditions to get a fine tuning taking out
the script shown in the paper by ITSE minimization.
3. Plot both trajectories.
4. Compare ITSE results.

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