PID Control System Design and Automatic Tuning using MATLAB/Simulink. Liuping Wang

noise

Transfer function model

Imaginary unit,

Proportional control gain

,

,

Scheduling parameters

Backward shift operator,

Sensitivity function

Input sensitivity function

Complementary sensitivity function

Desired complementary sensitivity function

Derivative control gain

Derivative control filter time constant

Integral control time constant

Closed-loop time constant

Control signal

Minimum and maximum limits for

Steady-state value for a control signal

Actual control signal (

)

Operating condition of

Bandwidth or natural frequency in PID controller design (rad/s)

Operating condition of

Damping coefficient in PID controller design

Output signal

Steady-state value of the output signal

Actual output signal (

)

       Acronyms

FFT	Fast Fourier transform
FSF	Frequency sampling filter
IPD	Alternative PID controller structure with proportional control and derivative control on output only
PID	Proportional, integral and derivative
PWM	Pulse Width Modulation

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       Lecture slides

       MATLAB/Simulink programs

      Scan this QR code to visit the companion website.

1 Basics of PID Control

      1.1 Introduction

      This chapter will introduce the basic ideas of PID control systems. It starts with an introduction to the roles of proportional control, integral control, and derivative control, followed by an introduction to the various tuning rules developed over the past several decades. These tuning rules are mainly developed for first order plus delay systems and are simple to use. However, they do not, in general, guarantee satisfactory control system performance. Simulation