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Advanced Control

Discrete forms of PID controllers

Reference: A. Visioli, Practical PID Control, Springer 2006

Computer Control

1. The computer requests a value from the A/D converter. The A/D
converter samples the process signal, converts it to a number, and stores it
in the computer memory or a register.

2. The computer performs the control calculations on the sampled process

signal(s) and computes the output(s) to the process.

3. The computer output is sent to the D/A converter, which converts it to an

electronic signal, updates the output, and holds it constant until the next
update.
Computer Control

A good rule of thumb is that the sample time should be about one-
tenth of the effective process time constant
Discrete Form of PID Controllers

 Position Form
Kc t de(t )
u (t )  u s  K c e(t ) 
I 
0
e(t )dt  K c D
dt

Sampling Time : Ts , Number of Sampling : k , Time : t = kTs

 e(t )dt   e(iT )T

t
Upper rectangula r approximat iom : s s
0
i 1

de(t k ) e(kTs )  e((k  1)Ts )

Backward Finite Difference : 
dt Ts
 Discrete Form of PID Controllers

 Position Form
Kc t de(t )
u (t )  u s  K c e(t ) 
I  0
e(t )dt  K c D
dt

K
K c D
u(k )  us  K c e(k ) 
K cTs
 e(i)  e(k )  e(k 1)
I i 1 Ts

 Velocity Form

K c D
u (k )  u (k  1)  K c e(k )  e(k  1)  e(k )  2e(k  1)  e(k  2)
K cTs
e( k ) 
I Ts
Discrete Form of PID Controllers

 Velocity Form

u(k )  u(k  1)  g0e(k )  g1e(k  1)  g 2e(k  2)

Where:  Ts  D 
g 0  K c 1   
  I Ts 
 2 D 
g1   K c 1  
 Ts 
K c D
g2 
Ts
Discrete Form of PID Controllers

 Backward Shift Operator (q -1) : y(k-n)=q-ny(k)

u (k ) g 0  g1q 1  g 2 q 2

e(k ) 1  q 1

Tuning of Digital PID : Moore et al. (1969)

Use the continuous tuning formula of PID controller with corrected

dead time

Ts
t0c  t0 
2