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A novel optimal PID plus second order derivative controller for AVR system

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Figure

Fig. 2. Step response of the AVR system without PID controller.
Fig. 4. Step response of the AVR system with PID controller.
Fig. 6. Effect of adding a zero to ~ G AVR PID on t r , t s , M p , and t p .
Fig. 7. Pseudocode for NMF used to realize first and second order derivative actions.
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