2012 METU Lecture 5 Control of Smart Systems - Department of ...
2012 METU Lecture 5 Control of Smart Systems - Department of ...
2012 METU Lecture 5 Control of Smart Systems - Department of ...
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PID <strong>Control</strong>lers<br />
u(t)<br />
+<br />
P<br />
+<br />
e(t)<br />
+<br />
∑ ∑ Plant/Process<br />
-<br />
Parameter Rise Time Overshoot Settling Time<br />
I<br />
D<br />
+<br />
Steady-state<br />
Error<br />
y(t)<br />
Stability<br />
Kp Decrease Increase Small Change Decrease Degrade<br />
Ki Decrease Increase Increase<br />
Kd<br />
Small Increase<br />
Small<br />
decrease<br />
Small<br />
decrease<br />
Large<br />
decrease<br />
No effect in<br />
theory<br />
Ang, K.H., Chong, G.C.Y., and Li, Y. (2005) PID control system analysis, design, and technology.<br />
IEEE Transactions on <strong>Control</strong> <strong>Systems</strong> Technology, 13 (4). pp. 559-576.<br />
Jinghua Zhong (2006). PID <strong>Control</strong>ler Tuning: A Short Tutorial.<br />
Degrade<br />
Improve if Kd<br />
is small<br />
35
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