About¶

Many accounts available online, as regards the implementation of a PID controller, modify the simplified overview representation using some practical issues namely:

1. Sampling

2. Noisy Derivative Contributions

3. Set-point and Derivative Kick

4. Integral Anti-windup

5. Bumpless Parameter Changes.

However, from knowledge available in current modern control systems theory and application, these issues can be viewed as compensating for a limited view of controller representation. The design and realization of a modern controller should inherently address these issues.

For example, Issue 1 is necessary for discrete-time implementation (software). Issue 2 is covered by digital signal-processing information theory in relation to Issue 1. Issue 3 is covered by the two-degree of freedom control structure. Issue 4 is covered by modern anti-windup synthesis. Issue 5 is covered by similarly treating the effect of parameter changes as a wind-up problem.

In this library, the realization of the PID control algorithm addresses all these issues internally as part of the control design. It features:

1. Simplified Bilinear Discretization for Integration and Differentiation

2. Filtering: Information theory perspective of Signal processing

3. Critic Contributions

4. Two Degree-of-Freedom Control Structure

5. Automatic Anti-windup Control

6. Real-time Tuning: Closed PID-Loop Model Following Control

Closed PID-Loop Model Following Control¶

Closed PID-Loop Model Following Control is the method used
to tune the PID is detailed in this paper CPLMFC. For more details on the theory, see Closed PID-Loop Model Following Control Preprint.