Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
· The functions of the individual proportional, integral and derivative controllers are complementary. When combined we get a system that responds quickly to change (derivative), generally track required positions (proportional), and will eventually reduce errors (integral).
· To get this we combine the expressions from the three individual controllers. Subscripts will be added to distinguish the `K' gain values for each controller.
· Quite often the three constants are made the same, giving us the simpler equation below.
· This controller now allows us to vary the three different gains, and as a result we will change the performance of the system.
· Consider the examples below,
