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Proportional-Integral-Derivative (PID) Control: PID control provides a simple yet relatively robust means of control to many types of system that can be represented or approximated by a second order system. A PID controller has the transfer function GPID(s) = K1 + K2/s + K3s The PID controller introduces a pole at the origin and two zeros that can be placed in the desired place in the left hand s-plane. Design steps for a PID Controller: Controller is of form: Kc(1 + 1/Tis + Tds) Determine gain Kss – proportional gain where system is just stable Determine period Tss – period of oscillations where system is conditionally stable PID Controller
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