Abstract
This chapter provides a practical introduction to feedback control systems through the example of the common PID (proportional-integral-derivative) controller. The reader will gain an intuitive understanding of the meaning of proportional, integral, and derivative gains in a PID feedback controller, and will experiment with the effects of these gains on a system simulated in MATLAB. Practical issues in implementing a discrete-time PID controller in software are also discussed, such as delays, integrator anti-windup, and integer math vs. floating point math in calculating the control. Model-based feedforward control, combined with PID feedback control, is also introduced.
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