# Tag Info

## Hot answers tagged pid

Accepted

### How to tune the PID parameters using Fuzzy Logic?

The paper Controlling of Quadrotor UAV Using a Fuzzy System for Tuning the PID Gains in Hovering Mode by E. Abbasi, M. J. Mahjoob explains how to tune PID gains with fuzzy logic. You can find many ...
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### Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?

No, but you do need to calculate the P/I/D terms correctly. You have: I = I + previous_I; followed by: previous_I = I; ...
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### PID control: zero out integral on error sign change?

Generally, in a well-tuned PID, most of the job is done by the P term, which is responsible for driving PV to SP. Then, D and I serve as corrections: the D term regulates the profile as of how we ...
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### PID with position and velocity goal?

In the case of MIMO systems (Multi-Input, Multi-Ouput), my warm suggestion is to go with State Space Control, which will give you enough freedom to move the closed-loop poles and thus achieve your ...
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### PID controller that targets a set rotation and a set velocity at that rotation?

Find here a similar question. A well-tuned position PID is most of the time capable of accomplishing the task of reaching a target with zero velocity. The central point here is that you shall provide ...
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### What is the best adaptive controller for robotic arms?

The given strategies can be divided into two groups: model-based and model-free control. The AMPC and MARC suggestions are model-based the other are model-free. Theoretically, a pid controller can be ...
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### Motion profile and Motion control scheme, how do they interact?

These two concepts are complementary and you use them together, the motion profile providing the input to your control scheme. At each time-step the motion profile gives you the reference values for ...
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### PID Control: Is adding a delay before the next loop a good idea?

Don't disengage your controller. The purpose of a controller is not only to steer your system to the desired setpoint according to a predetermined dynamical response but also to counteract potential ...
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### Inner current controller benefits

What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation Textbooks are always a great source of information! Reference: &...
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### Impact of using PID Output as a Change (Delta) vs Absolute

All PID controllers are relative in the sense that they act on a reference error, which is the difference between the reference signal and the sensed signal. Assuming the integral error starts at the ...
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### Does PID controller work on every actuator

does the PID controller work on every actuator? The short answer to this is yes. PID controllers are used to stabilise a plant/system. They are heavily used in ...
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### How to create a model for temperature control?

Generally you would only develop a model if (as in your case), you have something that you want to control. In that case, you should start by: List the outputs that you want to control. List the ...
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### Can we simulate a actuator with a very strong torque with a PID controller

What you're asking for cannot be accomplished with a PID controller. As I understand your question, you want to be able to choose PID gains that would always produce a "good" trajectory, ...
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### PID tuning with (Deep) Reinforcement Learning

I read a bit more and realized that in RL states and rewards accept a wide variety of interpretations and this is the real complexity nowadays of this learning problem. In case of PID values, problem ...
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### PID tuning with (Deep) Reinforcement Learning

Many reainforcement learning methods require descrete actions. As you indentified, increasing and decreasing the values is one option. If it is an adaptive PID, then it might take some time to ...
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### 2D quadcopter simulation position controller and PD controller

As you pointed out the typical control loop for a quadrotor is a nested one, with a position controller and a orientation controller (I prefer to use orientation instead of attitude to avoid confusion ...
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### Handling PID DC motor control at low speeds

I came up with a solution in the end. Fire a periodic interrupt at a fixed rate (In my case, I configured the STM32 to fire a systick interrupt every 1ms In the ISR for the 1ms timer, decrement a ...
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### Is Robust Control and robotics well applied together?

Robust control is used for when you know that parameters are going to fall within particular bounds. For example, for a mass-produced robot arm, the arm masses fall between X and Y, the moments of ...
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### PID Tuning. Does Setpoint Affect Gain for Tuning

You are correct; this is the biggest disadvantage of a PID controller. Oscillation will happen as a result of system inertia, but there's no way to "inform" the PID controller as to how much inertia ...
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### How to limit large acceleration and jerk from PID controller?

As a general remark, a PID controller can be designed to take into account only constraints occurring at the commanded variable - the end-effector velocity in your case - through the so-called ...
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