# Difference between revisions of "CDS 101/110 - PID Control"

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== Overview == | == Overview == | ||

− | '''Monday:''' PID Overview ({{cds101 handouts | + | '''Monday:''' PID Overview ({{cds101 handouts|L8-1_pid.pdf|Slides}}, {{cds101 mp3 placeholder|cds101-2007-11-19.mp3|MP3}}) |

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications. | This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications. | ||

− | * {{cds101 handouts | + | * {{cds101 handouts|L8-1_pid_h.pdf|Lecture handout}} |

− | * MATLAB | + | * MATLAB: {{cds101 matlab|L8_1_pid.m}} |

'''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss.pdf|Notes}}, {{cds101 mp3 placeholder|cds101-2007-11-21.mp3|MP3}}) | '''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss.pdf|Notes}}, {{cds101 mp3 placeholder|cds101-2007-11-21.mp3|MP3}}) |

## Revision as of 15:37, 19 November 2007

WARNING: This page is for a previous year.See current course homepage to find most recent page available. |

CDS 101/110a | Schedule | Recitations | FAQ | AM08 (errata) |

## Overview

**Monday:** PID Overview (Slides, MP3)

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.

- Lecture handout
- MATLAB: L8_1_pid.m

**Wednesday:** PID Analysis (Notes, MP3)

This lecture provides more details on the use of PID control, including the representation of PID controllers in state space. The problems of windup and saturation are also discussed.

**Friday:** no class (Thanksgiving break)

## Reading

- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Preprint, 2007. Chapter 10 - PID Control.

## Homework

This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.

- Useful MATLAB commands
- sisotool - display standard linear system plots on a single screen
- feedback - generate a closed loop system from a loop transfer function

## FAQ

**Monday**
<ncl>CDS 101/110 FAQ - Lecture 8-1, Fall 2007</ncl>
**Wednesday**
<ncl>CDS 101/110 FAQ - Lecture 8-2, Fall 2007</ncl>
**Homework**
<ncl>CDS 101/110 FAQ - Homework 7, Fall 2007</ncl>