PID Controller

• A possible representation in the time domain

• The same in the frequency domain
• That’s a second-order controller
• The simplest: P-control
• Why I part
• Problems
– Windup
– Noise

11
 A Standard Representation

Equation

Block diagram

2
 And in the Laplace-Domain

Equation

Block diagram

Second order

3
 Series Representation in Laplace

Standard representation from series representation

Series representation from standard

4
 Problem: Differentiation

Differentiation can strictly speaking not be done.

Differentiation amplifies high frequencies. Noise gets thus a
particular problem.

One can zoom in as much as one want,

one does need information from the past
to get the slope.

5
 Fix: Delay Measurement with Filter

Filter delays and smoothens signal

6
 Windup

Input to the process is usually limited

What happens if the controller asks for more input than there is
available?

The error increases and the integrator is accumulating and

accumulating whilst the process does not proceed.

7
Effect of Input Saturation

8
 9
Effect of different feedback level of saturation
 PID with without and with anti windup

Simulink modules

10
 Process without and with saturation

Simulink modules

11
12