Reference Implementation of the PID Controller
Sundström, Emil LU
; Hägglund, Tore
LU
; Bauer, Margret
LU
; Eker, Johan
LU
and Soltesz, Kristian
LU
(2024)
4th IFAC Conference on Advances in Proportional-Integral-Derivative Control
In IFAC Proceedings Volumes (IFAC-PapersOnline)
58(7).
p.370-375
- Abstract
- The PID controller is the by far most frequently employed type of controller. As you read, billions of digitally implemented PID controllers are running, shaping the dynamic behavior of anything from the fan speed in your laptop to safety-critical components in nuclear power plants. Given the abundance of commissioned PID controllers, it is surprisingly hard to find a single source that provides a well-documented, and motivated reference implementation of the PID controller in text-based code. This work provides one. We use the incremental (velocity) form, motivated by its intrinsic integrator anti-windup and bumpless transfer behavior. In addition, we discuss our implementation in terms of measurement filtering, setpoint handling, and... (More)
- The PID controller is the by far most frequently employed type of controller. As you read, billions of digitally implemented PID controllers are running, shaping the dynamic behavior of anything from the fan speed in your laptop to safety-critical components in nuclear power plants. Given the abundance of commissioned PID controllers, it is surprisingly hard to find a single source that provides a well-documented, and motivated reference implementation of the PID controller in text-based code. This work provides one. We use the incremental (velocity) form, motivated by its intrinsic integrator anti-windup and bumpless transfer behavior. In addition, we discuss our implementation in terms of measurement filtering, setpoint handling, and runtime environment, among other implementation aspects. Our reference implementation is a living “document”, and a link to a GitHub repository hosting the latest version is provided. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/75b22ba2-e611-4f45-9e77-52968371e082
- author
- Sundström, Emil
LU
; Hägglund, Tore
LU
; Bauer, Margret
LU
; Eker, Johan
LU
and Soltesz, Kristian
LU
- organization
- publishing date
- 2024
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- PID control, Implementation, Programming code
- in
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- volume
- 58
- issue
- 7
- pages
- 370 - 375
- publisher
- IFAC Secretariat
- conference name
- 4th IFAC Conference on Advances in Proportional-Integral-Derivative Control
- conference location
- Almeria, Spain
- conference dates
- 2024-06-12 - 2024-06-14
- external identifiers
-
- scopus:85203060099
- ISSN
- 2405-8963
- DOI
- 10.1016/j.ifacol.2024.08.090
- project
- Data-driven modeling for sustainable mining
- language
- English
- LU publication?
- yes
- id
- 75b22ba2-e611-4f45-9e77-52968371e082
- date added to LUP
- 2024-03-19 19:34:36
- date last changed
- 2024-11-25 12:18:11
@article{75b22ba2-e611-4f45-9e77-52968371e082,
abstract = {{The PID controller is the by far most frequently employed type of controller. As you read, billions of digitally implemented PID controllers are running, shaping the dynamic behavior of anything from the fan speed in your laptop to safety-critical components in nuclear power plants. Given the abundance of commissioned PID controllers, it is surprisingly hard to find a single source that provides a well-documented, and motivated reference implementation of the PID controller in text-based code. This work provides one. We use the incremental (velocity) form, motivated by its intrinsic integrator anti-windup and bumpless transfer behavior. In addition, we discuss our implementation in terms of measurement filtering, setpoint handling, and runtime environment, among other implementation aspects. Our reference implementation is a living “document”, and a link to a GitHub repository hosting the latest version is provided.}},
author = {{Sundström, Emil and Hägglund, Tore and Bauer, Margret and Eker, Johan and Soltesz, Kristian}},
issn = {{2405-8963}},
keywords = {{PID control; Implementation; Programming code}},
language = {{eng}},
number = {{7}},
pages = {{370--375}},
publisher = {{IFAC Secretariat}},
series = {{IFAC Proceedings Volumes (IFAC-PapersOnline)}},
title = {{Reference Implementation of the PID Controller}},
url = {{https://lup.lub.lu.se/search/files/177637056/sundstrom24a.pdf}},
doi = {{10.1016/j.ifacol.2024.08.090}},
volume = {{58}},
year = {{2024}},
}