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Digital PID

posted Nov 5, 2014, 5:52 PM by Javad Taghia   [ updated Nov 5, 2014, 5:52 PM ]
http://portal.ku.edu.tr/~cbasdogan/Courses/Robotics/projects/Discrete_PID.pdf
http://lorien.ncl.ac.uk/ming/digicont/digimath/dpid1.htm

PI/PID Controller Design from the Laplace Domain

We can also formulate discrete PID controllers directly from the Laplace domain. Here, the ideal PID algorithm is written as:

Now we can apply either the backward difference or bilinear transformation methods to get an equivalent discrete PID controller.

Say we apply the backward difference method. Then,

Simplification yields:

Ċ
Javad Taghia,
Nov 5, 2014, 5:52 PM
Ċ
Javad Taghia,
Nov 5, 2014, 5:52 PM
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