A PID controller (Proportional-Integral-Derivative controller) is a widely used control loop feedback mechanism in industrial control systems. It aims to continuously calculate an error value as the difference between a desired setpoint and a measured process variable, and it applies a correction based on three distinct parameters: the proportional, integral, and derivative terms.
Mathematically, the output of a PID controller can be expressed as:
where , , and are the tuning parameters for the proportional, integral, and derivative terms, respectively, and is the error at time . By appropriately tuning these parameters, a PID controller can achieve a
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