PID Control System Design and Automatic Tuning using MATLAB/Simulink

Index

• a
• anti‐windup
  • amplitude constraint 126
  • disturbance observer 144, 153
  • example 147
  • implementation 126
  • position form 124
  • rate of change constraint 129
  • resonant controller 158, 166
  • tutorial 130
  • velocity form 126
• anti‐windup implementation 132
• auto‐tuner 283
  • attitude control 314, 321
  • cascade control 297
  • evaluation 286
  • example 286, 292, 294, 297
  • integrating plant 291
  • stable plant 283
  • tutorial 284

• b
• backlash
  • example 223
• bandwidth 48
  • closed‐loop 48

• c
• cascade control 203
  • auto‐tuner 297
  • closed‐loop poles 209
  • closed‐loop polynomial 208
  • design steps 203
  • disturbance rejection 207
  • example 204, 206, 211, 215, 220, 223
  • input disturbance 209
  • nonlinearity 214
  • performance 208
  • quantization 219
  • UAV 311
• case studies
  • ball and plate 187
  • beer filtration 245
  • double tank 182
  • fired heater 25, 55
  • induction motor 184
  • polymer reactor 62
  • three springs and double mass 103
  • UAV 305, 309
• comparative studies 289, 319
• complementary sensitivity 47
  • bandwidth 48
  • cascade control 210
  • desired 240
  • noise attenuation 54
  • Padula and Visioli controller 51
  • reference following 48
  • robust stability 61
  • sinusoidal reference 53
  • specified 241, 250
• control system configuration
  • one‐degree‐of‐freedom 43
  • two degrees of freedom 44

• d
• derivative filter 4, 84
  • discretization 119
  • time constant 58
  • time constant  4, 10, 150
  • time constant  153, 155
• discretization
  • derivative filter 119
  • higher order 120
  • PI controller 117
  • PID controller  ...