A Practical Guide to PID Controller Implementation

TL;DR

This paper discusses the practical challenges of implementing PID controllers and provides a reference implementation that addresses real-world issues like actuator limitations and measurement noise.

Contribution

It introduces a comprehensive reference implementation of PID control that considers practical constraints and provides detailed pseudo-code and testing.

Findings

The reference implementation effectively handles physical actuator limitations.

Simulation results demonstrate robustness in various test scenarios.

Implementation choices improve real-world applicability of PID controllers.

Abstract

How difficult can it be to implement a PID controller? The answer is twofold. Implementing the PID control law is simple and computationally inexpensive. However, this basic form will not work in practical applications. The primary reason for this is the various physical limitations of the actuator. Measurement noise, different implementations depending on the various structures (P, PI, PD or PID), bumpless transfer, and varying sampling time also result in problems rendering the basic form inoperable. PID implementation is therefore more difficult than meets the eye. This paper introduces a reference implementation of the PID controller which considers these practical issues. It includes pseudo-code, discussion of the implementation choices and simulation of carefully selected, important test cases.