15 - The PID controller

Abstract

The PID controller can be considered the industry standard controller. Because of its widespread use, in this chapter we present the PID controller in detail. We explain the action of three independent control components (proportional, integral, and derivative) with root locus and frequency-response analysis. We cover some methods for PID controller tuning and propose circuits to realize PID control. Furthermore, we present implementation of PID control in a digital time-discrete system together with the differences between continuous and time-discrete system responses.