Developing a control system by integrating the Kalman Filter and the PID control loop

Abstract

This paper explores the integration of the Kalman Filter and the Proportional Integral Derivative (PID) controller. In control systems, noise is a major source of error. As a solution to noise, the fusion of the Kalman Filter and the PID controller is discussed. If a PID controller alone were to operate in a system with noise, the derivative component of the PID controller would significantly alter the output of the system, causing undesirable instability. In the proposed controller design, the Kalman filter operates before the PID by in-taking the noisy data and outputting a clean signal. The Kalman Filter allows the PID controller to operate on this clean signal to regulate the output, creating a precisely controlled system. Through the synthesis of these two devices for RPM (rotations per minute) regulation, this application of Control Theory opens the door to PID in industries where it was previously ineffective, and with refinement, will play a part in the innovations of this era.