December 2015
Beginner to intermediate
650 pages
18h 28m
English
book
Embedded Computing and Mechatronics with the PIC32 Microcontroller
by Kevin Lynch, Nicholas Marchuk, Matthew Elwin
Content preview from Embedded Computing and Mechatronics with the PIC32 Microcontroller
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Chapter 23
PID Feedback Control
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.
Keywords
Proportional integral ...
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