Hi,
I'm also new to this, I'll try to help anyway...
you missed the w in the equation k= .... -2.418*W*sin(phi);
As I understood your are not making the right calculations..
1st step
using equation (7) (I think)
- Calculate k1 and Kd from PD PLOT (similar calculations as you did for PI)
from the plot 3:
k1 = 10 and kd = 0.05, the poles of the charateristic equations with this PD controller are -633.39 and -284.18
2nd step
- Calculate k2 and Ki from the PI PLOT considering the transfer function of the initial system controlled by a PD with the constants calculated in the step1,
using equation (7) (I think)
"The PID controller design consists of two steps: in the first step, PD controller can be designed
and in the second step, PI controller design can by applied for the plant with the PD controller."
Jakub Osuský and Vojtech Veselý - MODIFICATION OF NEIMARK D-PARTITION METHOD FOR
DESIRED PHASE MARGIN