In Figure 1, Controller C1 in the outer loop is the primary controller that regulates the primary
controlled variable y1 by setting the set-point of the inner loop [1]. Controller C2 in the inner loop
is the secondary controller that rejects disturbance d2 locally before it propagates to P1. For a
cascade control system to function properly, the inner loop must respond much faster than the
outer loop.
a. Design the inner loop controller as PI controller. What are the values for the control
parameters? Hint: Tune PI controller for target bandwidth is 0.2 rad/s
b. Design the outer loop controller as PI controller. What are the values for the control
parameters? Hint: Tune PI controller for target bandwidth is 0.2 rad/s
c. Plot the disturbance rejection response for the given cascade control designed with all
axes labeled and any relevant response characteristics. Is disturbance rejection achieved?
What is the value of the response offset?
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