计算机控制技术-2.2-2.3.ppt

2.2 Digital PID algorithm and its modified forms 2.2.1 Principle of PID control i.e. .….2.1 (3) Derivative indication of the rate of error changes. introducing an earlier compensation signal to speed up system response, reducing regulation time. 2.2.2 Digital PID algorithm Assuming: Sampling interval is sufficiently short. Ideal  sampling switch and Hold are applied. Problems with the position PID controller: 1) m