PI-D type control (Derivative leading PID)

　・In English
＜Premise knowledge＞
　・PID control
　・I-PD control
　・Scilab

■What is PI-D control (derivative leading PID)?

PI-D control (derivative leading PID) is an application of PID control, in which the derivative of the actual value is added as a derivative term. Normal PID control applies a gain according to the deviation between the target value and the actual value. This control does not use the target-actual deviation as an input to the derivative term, but uses the actual value as an input to the derivative term. By doing this, a sudden change (kick) in the manipulated variable due to a sudden change in the derivative term can be suppressed.

The comparison is as follows. For PI-D, the derivative term is a subtraction

■Design of PI-D control

The design result in Scilab is as follows. The contents of the controlled object and the differentiator are here.




The parameters are as follows. It can be seen from the simulation results that the sudden changes in the derivative term are suppressed.

　Kp=4.75, Ki=3.5, Kd=0.35

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