PID

Controller Design Process

EEC 414 Wri4ng for Electrical and Computer Engineering
November 21st, 2012

Zaid Thalji
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Outline
Introduc4on to control system System design specica4ons
Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability Open-loop Closed-loop

Propor4onal-integral-deriva4ve(PID) controller Conclusion and future work

Deni4on Tuning eects of PID gain coecients

Outline
Introduc4on to control system System design specica4ons
Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability Open-loop Closed-loop

Propor4onal-integral-deriva4ve(PID) controller Conclusion and future work

Deni4on Tuning eects of PID gain coecients

Introduc4on to control system

Figure 1a

Figure 1b Figure 1a shows the closed-loop control system, while 1b shows the open-loop control system
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Outline
Introduc4on to control system System design specica4ons
Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability Open-loop Closed-loop

Propor4onal-integral-deriva4ve(PID) controller Conclusion and future work

Deni4on Tuning eects of PID gain coecients

System design specica4ons

Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability
Steady-state gain

Overshoot

Figure 2 shows an output response that is used to characterize design specica4ons

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Outline
Introduc4on to control system System design specica4ons
Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability Open-loop Closed-loop

Propor4onal-integral-deriva4ve(PID) controller Conclusion and future work

Deni4on Tuning eects of PID gain coecients

Propor4onal-integral-deriva4ve(PID) controller
Deni4on of PID
Propor4onal gain (Kp) Integral gain (Ki) Deriva4ve gain (Kd)

Tuning of Kp, Ki, and Kd

Table 1 shows the eect of each PID controller gain tuning eects respec4vely
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Outline
Introduc4on to control system System design specica4ons
Percent overshoot SeGling 4me Steady-state error Steady-state gain Stability Open-loop Closed-loop

Propor4onal-integral-deriva4ve(PID) controller Conclusion and future work

Tuning eects of PID gain coecients Deni4on

Conclusion and future work

Control systems introduc4on PID controller design approach PID controller tuning to design specica4ons Future work: address PID controller design and tuning to sensor noise and disturbance rejec4on

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THANK YOU!

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