PID Controller Implementation

Overview

A PID (Proportional-Integral-Derivative) controller is a feedback control mechanism used in industrial control systems. It continuously calculates an error value and applies a correction based on proportional, integral, and derivative terms.

Control Law

output = Kp * error + Ki * integral(error) + Kd * derivative(error)

Where:

• error = setpoint - measured_value
• Kp = proportional gain (reacts to current error)
• Ki = integral gain (reacts to accumulated error)
• Kd = derivative gain (reacts to rate of change)

Discrete-Time Implementation