Practical Implementation Issues with a PID Controller

PID controllers are some of the most common and effective controllers in use today. Despite their relative simplicity, there are several issues that you should be aware of if you plan on using a PID controller. In this video we discuss some of these issues such as derivative noise and integrator wind-up. We also present several solutions to these problems and discuss their integration into a larger control architecture.

Topics and timestamps:
0:00 – Introduction
2:57 – Derivative issues
3:52 – Noncausal issues
9:20 – Noise issues
48:03 – Integrator issues
1:10:04 – Mass spring damper example
1:18:10 – Aerosonde example
1:35:30 – Prefilter
1:50:24 – Anti-windup schemes

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Select pictures and graphics courtesy of:

“Aerosonde Robotic Airplane Completes Historic Trans-Atlantic Flight”, Rob Harrill, August 21, 1998

“Laima: The First Atlantic Crossing by Unmanned Aircraft”, Tad McGeer, February 25, 1999.

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Видео Practical Implementation Issues with a PID Controller канала Christopher Lum