4 - Controllers

Question 1

What is Proportional Control?

Answer 1

K_P

Can help a system make large adjustments to reduce error to zero faster

Question 2

What is Derivative Control?

Answer 2

K_d

Multiple with the rate of change of the error

Can help a system make adjustments to minimize oscillation and overshoots

Question 3

What is Integral Control?

Answer 3

K_i

Multiplied with the area value between the error and time axis (it’s integral)

Can help a system make corrections to its final position/value

Question 4

Combining Controllers

Answer 4

P - makes adjustments based on the current “size” of the error.

D - makes adjustments based on the “rate of change” of the error.

I - makes adjustments based on how long the error has persisted.

The three aspects mentioned previously are often used together:

• PD
• PI
• PID

Changing the gains effects how much each piece influences the actuating signal