Abstract
To understand how the implementation of a proportional integral derivative (PID) controller is performed, this chapter describes the general scenario of a digital control system at work. Position form implementation of PID controllers involves direct discretization of the continuous time controller. There are only two types of PID controllers using the velocity form for implementation. One is proportional PI controller, the other is PID controller. In the velocity form, the PI controller or PID controller is discretized without separation of individual terms, and the solution is focused on the derivative of the control variable, from which comes the term “velocity”. The implementation of PID controllers requires the consideration of an anti‐windup mechanism in the presence of constraints on the control signals. There are many approaches available for implementing PID controllers with an anti‐windup mechanism. The chapter discusses the implementation when using the position form.
Published Version
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