pidstd
PID controller in standard form
Description
Use pidstd
to create standard-form PID controller objects, or
to convert dynamic system models to
standard PID controller form.
The pidstd
controller model object can represent standard-form PID
controllers in continuous time or discrete time.
Continuous time —
Discrete time —
Here:
Kp is the proportional gain.
Ti is the integral time.
Td is the derivative time.
N is the first-order derivative filter divisor.
IF(z) is the integrator method for computing the integral in the discrete-time controller.
DF(z) is the integrator method for computing the derivative filter in the discrete-time controller.
You can then combine this object with other components of a control architecture, such as the plant, actuators, and sensors to represent your control system. For more information, see Control System Modeling with Model Objects.
You can create a PID controller model object by either specifying the controller
parameters directly, or by converting a model of another type (such as a transfer function
model tf
) to PID controller form.
You can also use pidstd
to create generalized state-space (genss
) models or uncertain state-space (uss
(Robust Control Toolbox)) models.
Creation
You can obtain pidstd
controller models in one of the following
ways.
Create a model using the
pidstd
function.Use the
pidtune
function to tune PID controllers for a plant model. Specify a baseline standard-form PID controller type using theC0
argument of thepidtune
function. For example:sys = zpk([],[-1 -1 -1],1); C0 = pidstd(1,1,1); C = pidtune(sys,C0)
Interactively tune the PID controller for a plant model using:
The Tune PID Controller Live Editor task.
The PID Tuner app.
Syntax
Description
Input Arguments
Output Arguments
Properties
Object Functions
The following lists contain a representative subset of the functions you can use with pidstd
models. In general, any function applicable to Dynamic System Models is applicable to a pidstd
object.
Examples
Version History
Introduced in R2010b