# lecture13 - 1 • The mostly used control design is the PID...

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Unformatted text preview: 1 • The mostly used control design is the PID controller. • P means Proportional; • I means Integral; • D means Derivative. • It defines how the control signal, u(t) is calculated based on the error, e(t). • We can describe the PID controller in Time-Domain or Frequency-Domain. 13. PID Controllers Y(s) R(s) G(s) E(s) +- K(s) U(s) 2 • In Time-Domain, the control signal, u(t), is calculated by: PID Controllers in Time-Domain . determined be to are values whose parameters are T , T , K controller- D a for , ) ( controller- I a for , ) ( controller- P a for ), ( ) ( D i P D P t i P P where dt t de T K dt T t e K t e K t u = ∫ 3 • In Frequency-Domain, the control signal, U(s), is calculated by: PID Controllers in Time-Domain . determined be to are values whose parameters are T , T , K controller- D a for ), ( controller- I a for , ) ( controller- P a for ), ( ) ( D i P D P i P P where s sE T K sT s E K s E K s U = 4 • We can have just a P-controller, i.e. Combinations of PID Controllers E(s) K U(s) or ) t ( e K ) t ( u P P = = ) s ( E s T 1 1 K U(s) or dt T ) t ( e ) t ( e K ) t ( u i P t i P...
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lecture13 - 1 • The mostly used control design is the PID...

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