PID control and associated controller types

Module overview. Proportional-integral-derivative (PID) control constitutes the heuristic approach to controller design that has found wide acceptance in industrial applications. This type of controller family is introduced and its behaviour discussed in detail. Both, empirical tuning using the rules according to Ziegler and Nichols and the optimal tuning using quadratic performance indices are shown. A comparison of the controller members of this family using performance indices is given to demonstrate the differences in their control behaviour.

Module objectives. When you have completed this module you should be able to:

1. Understand PID-type controllers.
2. Tune PID-type controllers using the rules of Ziegler and Nichols.

Module prerequisites. Transfer function, performance indices.