PID Control
**PID Control** refers to **Proportional-Integral-Derivative Control**, a widely used type of
controller in industrial and dynamic systems for regulating and stabilizing system
performance. It relies on three key parameters that are adjusted to meet system
requirements:
1. Proportional Control (P):
- Relies on the difference between the desired value (Setpoint) and the actual value (Process
Variable).
- Helps reduce error quickly but does not completely eliminate it.
- Proportional equation:
P = Kp * e(t), where Kp is the proportional gain, and e(t) is the instantaneous error.
2. Integral Control (I):
- Accumulates error over time, helping to eliminate the residual (steady-state) error.
- Integral equation:
I = Ki * ∫ e(t) dt, where Ki is the integral gain.
3. Derivative Control (D):
- Depends on the rate of change of error, improving system response and reducing
oscillations.
- Derivative equation:
D = Kd * de(t)/dt, where Kd is the derivative gain.
The Final PID Equation:
u(t) = Kp * e(t) + Ki * ∫ e(t) dt + Kd * de(t)/dt,
where u(t) is the control output applied to the system.
Importance of PID Tuning:
- The values of Kp, Ki, and Kd are adjusted based on the nature of the system to achieve
stability and avoid oscillations or excessive response time.
- These values can be tuned manually or using techniques like the Ziegler–Nichols Method
or others.
Applications of PID Control:
- Drones (e.g., quadcopters) for balancing control.
- Robotics and mechanical systems.
- Industrial process control (e.g., fluid pressure, temperature regulation, etc.).
