double-integrator PID design via pole placement

Antonio Sala, UPV

Difficulty: *** ,       Relevance: ,      Duration: 21:49

Summary:

This video designs a full-fledged PID to meet zero position error specifications both under reference changes and under input disturbances (step) of a double integrator process. This concludes the case study that began with purely intuitive tuning in the video [dintpid2tunBEN], and that the immediately preceding video [dintPDplaceEN] solved by calculating a PD because zero error was not required under input disturbances.

The final part of the video simulates the achieved performance in Matlab and incorporates saturation and measurement noise... This worsens the performance and a noise filter is tuned ‘by hand’, plus a 2-degree-of-freedom strategy to avoid ‘derivative kick’, and an antiwindup scheme is activated to avoid saturation problems in integral-action regulators. All of this is not usually the objective of a first introductory control course, but it indeed is of a ‘second’ course in which additional considerations are addressed so that PIDs work better ‘in practice’.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.