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Control techniques
Closed loop control is an essential topic for control
systems, bringing together actuators and sensors with
the control algorithm in software
Introduction
Problem: supplying the same analog voltage (or the same PWM
signal) to a motor does not guarantee that the motor will run at
the same speed under all circumstances!
Introduction (cont.)
Introduction (cont.)
Assuming the process/plant P, the sensor F and the controller
C are LTI (Linear Time-Invariant) systems
Closed-loop
transfer function
Control techniques
On-off control
PID control
Adaptive control (LMS, NLMS, RLS algorithms)
Others:
Fuzzy control
Neural Networks based control
On-off control
The power to motor is either switched on or switched off
Not smooth
Can we improve this?
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PID Control
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Substitute KI for
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P, PD and PID
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PID controller
The full formula for PID controller
PID controller
A complete PID formula
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