Week 8 Slide Template: PID Control

Slide 1 — Title

PID Control: From Theory to Tuning

Slide 2 — Learning goals

Explain P, I, and D actions; tune a basic controller; compare P, PI, and PID performance.

Slide 3 — Why PID?

PID is widely used because it is simple, practical, and effective for many industrial systems.

Slide 4 — Proportional action

Proportional control reacts to the present error.

u = Kp e

Increasing Kp usually improves speed but can increase overshoot.

Slide 5 — Integral action

Integral control reacts to accumulated error and helps remove steady-state error.

Too much integral action can cause windup and oscillation.

Slide 6 — Derivative action

Derivative control reacts to rate of change of error and can improve damping.

Derivative action is sensitive to noise.

Slide 7 — PID formula

u(t) = Kp e(t) + Ki integral(e(t)) + Kd de(t)/dt

Slide 8 — Tuning strategy

Start with P, add I to reduce offset, add D only if damping improvement is needed.

Slide 9 — Practical issues

Saturation, anti-windup, derivative filtering, sensor noise, and sampling time.

Slide 10 — Activity

Tune a PID controller for a first-order or motor-speed system and compare response plots.