Reinterpreting PID Controller From the Perspective of State Feedback and Lumped Disturbance Compensation
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916492082151424 |
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| author | Shi, Xinyu |
| author_facet | Shi, Xinyu |
| contents | This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a disturbance observer, which are responsible for stabilizing the homogeneous system and compensating for the lumped disturbances (non-homogeneous components) of the system respectively. Based on this framework, the impact of measurement noise on control performance is examined, and a parameter tuning scheme for the traditional PID controller is provided. Finally, as examples, controllers are designed for two representative control problems: a trajectory tracking controller for an underactuated vertical takeoff and landing (VTOL) aircraft in the time domain, and a lateral controller for a vehicle in the distance domain. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_14678 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Reinterpreting PID Controller From the Perspective of State Feedback and Lumped Disturbance Compensation Shi, Xinyu Systems and Control Optimization and Control This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a disturbance observer, which are responsible for stabilizing the homogeneous system and compensating for the lumped disturbances (non-homogeneous components) of the system respectively. Based on this framework, the impact of measurement noise on control performance is examined, and a parameter tuning scheme for the traditional PID controller is provided. Finally, as examples, controllers are designed for two representative control problems: a trajectory tracking controller for an underactuated vertical takeoff and landing (VTOL) aircraft in the time domain, and a lateral controller for a vehicle in the distance domain. |
| title | Reinterpreting PID Controller From the Perspective of State Feedback and Lumped Disturbance Compensation |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2411.14678 |