# Questions tagged [pid-control]

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### Derive a Transfer Function from first principles (PID, system identification, statics)

I want to derive a transfer function of my system so I can plug it into MATLAB and use the PID tuner tool. My system is a balancing beam with a motor on each end of the beam. My first principles ...
171 views

### How to tune PID for a step response

I am very much confused finding the time constant and DC gain for the below step response. The idea is to find PI gains for speed control and I am following this tutorial online Tutorial Link Motor ...
262 views

### How to design a transfer function for a Model Rocket?

I am building a roll stabilized model rocket. I am beginner at controls systems. How do I find out the transfer function of the rocket. Although, I am aware of definitions and stuff of control systems....
I need the equation of a discrete PID controller and I find different answers from different websites. For example, here the answer is: $$u[k] = u[k-1] + (K_p + K_i \frac{T_s}{2} + \frac{K_d}{T_s}) e[... 2 votes 3 answers 915 views ### PID control of a DC motor with PWM from Raspberry Pi - how to cross dead area? I'm driving a DC motor (actually a linear actuator) with a Polulu motor controller from a Raspberry Pi. The motor drives if you ask for anything between 20 and 100% duty cycle, so there is a dead zone ... -1 votes 1 answer 28 views ### Equal proportional and derivative gains of PID Is it common to take equal values for the proportional and derivative gains of a PID controller? if so what does it mean? 1 vote 2 answers 908 views ### Is the speed of a DC motor proportional to PWM? I'm trying to control the speed of DC motor but unsure of the relationship between speed and PWM. I'm aware that the bigger the duty cycle, the larger the speed, but how exactly would this ... 1 vote 0 answers 277 views ### Is there a maximum phase margin a PID controller can give? I'm having trouble understanding the plot attached. The bode plot here shows the bode plot of a plant to be controlled with PID. So, if I want a phase margin of 30 degrees at the bandwidth frequency, ... 0 votes 1 answer 146 views ### Control: control action of a PID controller with feedback I'm programming the controller for a drone and I've got a question that may be basic, but I need to understand this perfectly to continue with the most interesting part of the project. The sensors of ... 0 votes 2 answers 698 views ### Books for learning PID control? [closed] I am aiming to program a quadcopter flight controller as a personal project. To be able to do this I understand one of the fundamentals is a PID control system . So my question is does anyone have ... 0 votes 1 answer 603 views ### Programming a gas mass flow controller rig I'm trying to upgrade a multiple gas flow controller, which must be capable of controlling the mass flowrates of three gases independently through one outlet line to our system, and am in need of a ... 3 votes 3 answers 7k views ### Can a PID controller have a simple on/off output? The crux of a PID controller is:- output = Kp * error + Ki * integral + Kd * derivative So typically there is proportionality and a continuously varying (analogue) output. In the case of a simple ... 0 votes 1 answer 139 views ### The relationship between the I control and the stability margin While I'm reading the paper, it said "The I control can makes the phase lag, so it can makes stability margin reduced." Words are not same as that, but the meaning is the same. How the I control ... 4 votes 1 answer 267 views ### what's wrong with this robust control scheme? I'm learning how to control a double integrator with H_\infty. my model is simply$$\begin{gather} \dot{r} = v \\ \dot{v} = F/m \\ r(t_0) = 0\text{ m}, $v(t_0) = 0\text{ m/s}, m = 1000\text{ kg} \... 2 votes 2 answers 689 views ### How can we control the output temperature of a multi-input single-output pipe air-flow system? I am trying to optimize the heat control of a test bench at our facility. The test bench is basically a pipe with an air flow that can be heated up to desired temperature. To heat the air flow up, ... 0 votes 1 answer 211 views ### Negative gain in Ziegler-Nicholas Oscillation Method? For a plant G(s), the transfer function is given by: $$G(s) = \frac{(10s+50)}{s(s^2+20s+2500)}$$ Using Ziegler-Nicholas method to get the parameter:$k_p = \dfrac{-1000}{3}$and$w =-28.868j$. Is it ... 3 votes 1 answer 887 views ### Advantage of anti-windup What is the definition of anti-windup? How does it impose the constraints? What are the advantages of MPC and anti-windup over each other? Does anti-windup guarantee the constraints or does it just ... 0 votes 2 answers 828 views ### How to control the level in multiple connected tanks at the same time? In a coupled tanks system, what is the control strategy to simultaneously control the level in multiple tanks. In this case the actuators influence multiple control variables. The system is as shown ... 1 vote 2 answers 180 views ### Where should I start to be a control system engineer? [closed] I am a telecommunication and network engineer working as a programmer and data analyst. One of my dreams was and still to be a control system engineer and to design and program a smart robots and ... 2 votes 0 answers 41 views ### How to control an underactuated platform with a single servo What's the best way to control the following type of platform so that it remains balanced and upright? It's a box supported by a single leg that can pivot at the foot (F) and at the hip (H). The foot ... 2 votes 2 answers 338 views ### How does a closed loop control system actually work? I'm currently taking classical control theory and have some questions regarding basic concepts related to closed loop systems. Let's say I have a simple servo motor controlled by an electric current.... 3 votes 1 answer 78 views ### Are all motors controlled with G-Code? So I have laser cutter. And I am thinking about buying a control unit (this one, to be exact). But my concern here is the following: If the input DXF file contains splines, they will be converted to ... 4 votes 1 answer 88 views ### What's a control system architecture that can track a ramping reference signal? It's well-known that a control system with integral control can track a constant reference signal (command) with zero steady-state error. What is needed to generate a controller that can track a ... 2 votes 1 answer 188 views ### Tricks for controlling process with logaritmich characteristics over 20 orders of magnitude I'm building a machine that operates over 20 orders of magnitude with logarithmic process characteristics. I have tried regular PID and also all sorts of variations of PID and did not get good results.... 1 vote 1 answer 143 views ### PID Gain Calculation A component of a control loop is approximated by the following relation between input$x$, and output,$y$:$y = 5x^2$During normal operation, the value of input to this component ranges between$1$... 1 vote 1 answer 521 views ### Cascaded PID loop and parallel PID loop What are cascaded and parallel PID loop and what are the differences between them. I searched on google and came across few websites but still i don't understand the the two types of control loops ? 1 vote 0 answers 71 views ### PID control for UAV [closed] I'm working on a deltawing model airplane where I want to implement a PID controller to stabilize the pitch, roll and yaw (which are only controlled by two elevons). However, I don't know too much ... 1 vote 1 answer 124 views ### Layout of a controller for controlling a water pump I'm currently writing a simulation environment in python/c for heat networks and got to the point where I'm implementing the controls for the environment. The PID controller is already implemented and ... 1 vote 1 answer 333 views ### PID tuning of a classic voltage controlled three-phase rectifier I have a three-phase synchronous active rectifier I need to control it with a voltage oriented scheme like this: But I have no idea of how to tune multiple PIs, I'm trying to do it by trial but I ... 1 vote 2 answers 4k views ### How do elevators stop at the exact landing spot when reaching a particular floor? The floor the elevator moves to, is controlled by the lift PLC with all the algorithms developed over the years, and that I understand well. What I am not able to understand is how does the lift stop ... 1 vote 1 answer 1k views ### How to tune a PID for a pure integrator system? Given a plant with a transfer function of K/s, how can I tune a PID to control it? I found articles explaining how to tune an integrator with time delay, but not for just a pure integrator system. 3 votes 2 answers 4k views ### Replacing PID with Lead–lag compensator? I have a vehicle (I bought it and it proprietary and I have no information about any internals) which I want to integrate into my simulation environment. So far I have a physical model of it which I ... 2 votes 1 answer 242 views ### Tuning PID Controller I have to determinate the power (Watts) for an oven to reach the Temperature Reference. And I have been given only the function to apply power to the oven and read the temperature. I've reading the ... 0 votes 1 answer 83 views ### Cylinder position and speed control I have cylinder model that I control with 4/3 directional valve. When 4/3DV control input is 10V, cylinder moves forward and when valves control input is -10V, then cylinder moves backward. I can get ... 2 votes 1 answer 4k views ### Using a PID to control rotation I've been working on simulating drone flight in Gazebo (an open source robotics simulator). Currently, I'm trying to control the drone's pitch / roll rotation using PIDs. It's important to remember ... 2 votes 1 answer 903 views ### Design op-amp circuit from transfer function? [closed] What is the best way to design a circuit based on the following transfer function: (0.0364*s)/(0.0002*s + 1) ? I am trying to design the derivative stage of a PIDF controller using op-amps EDIT: This ... 1 vote 0 answers 232 views ### How many controllers of output or state are available? [closed] Im in daily basis see a lot of controller. Sliding mode PID. Fuzzy, adapttive. Controller based on lyapunov etc. But how many are they that are actually in use in industry and when do we use them? ... 3 votes 1 answer 207 views ### Model-based Ziegler-Nichols tuning of a hover PID controller Doing a fun project to reconnect with my engineering training: I would like to design a control scheme for hovering in-place at a set altitude with a vertically-oriented propeller, rocket, etc. Right ... 0 votes 1 answer 787 views ### What type of control system is this? open loop? Suppose I have a liquid in a container, the type of liquid is such that it expands when its temperature rises. The contrainer is marked with scale to measure the height of liquid expanded. There is a ... 1 vote 1 answer 48 views ### What is the name of my feedback procedure in control system that I am using? I have created a self balancing robot. It uses PID control to control its pitch angle and gets the feedback from gyroscope and accelerometer. But I have not used any sensor to feedback the ... 1 vote 0 answers 944 views ### FOC algorithm for BLDC motor and rotor position estimation via IMU I would like to implement the Field Oriented Control (FOC) algorithm on my STM32 board for controlling a 3 phases sensorless BLDC motor. By googling I found a very interesting Application Note from ... 2 votes 1 answer 1k views ### Suggestion to control a gimbal bldc motor for positioning I try to understand what the PID controller of a gimbal stabilizer boards (e.g Storm32BGC) does influence? From the IMU we get position and velocity after sensor funsion. The input variable of the ... 0 votes 1 answer 2k views ### How do I define settling time vertical line on root locus? I want to understand how in process of design of a controller I have to meet requirements using root locus method. I know that for the given damping ratio I need to estimate the arccos of it and ... 1 vote 2 answers 210 views ### Motor Controller Design Considerations I'm working on developing a speed controller for a motor that is geared to rotate a mass. Currently, the motor in question has a step voltage applied to it and moves the mass at a relatively slow ... 1 vote 3 answers 611 views ### PID position control when setpoint does not require continuous force I'm struggling with the practical application of a PID control algorithm when the set point does not require any external force to stay in position. For example, I have a geared electric motor that ... 1 vote 1 answer 112 views ### What is a PIAD controller? I know a PID controller. Recently, I heard someone mention a PIAD controller. What is this? Is it a kind of extension of a regular PID controller? In the control engineering litterature, I have only ... 7 votes 2 answers 2k views ### Writing a filtered derivative term of the PID controller into the C++ code Everywhere I look, be it a PID, lead, lag control or anything else, there are Simulink schematics with transfer functions. This is all nice for system response simulation, however currently I have to ... 5 votes 1 answer 161 views ### When are overshooting controllers preferred over asymptotic ones? Disclaimer Designing the behavior of controllers is an important task for many applications. Every application needs its own requirements fulfilled. For example a CNC machine needs a controller with ... 1 vote 0 answers 241 views ### Theory of steady state error and dynamics of error for automatic control systems I'm currently studying control systems specifically the mass-spring-damper system. Which is described by: $$\ddot{y}=(b/m)\dot{y}+(k/m){y}=(b/m)\dot{u}+(k/m){u}$$ Where$b:\$ coeffiecient of ...
I have an equation of a PI controller. What means here the velocity constant "R" exactly? $$m(t)=K(e(t)+R{\int}e(t)dt)$$ $$R=1sec^{-1}$$