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noise Transfer function model Imaginary unit, Proportional control gain , , Scheduling parameters Backward shift operator, Sensitivity function Input sensitivity function Complementary sensitivity function Desired complementary sensitivity function Derivative control gain Derivative control filter time constant Integral control time constant Closed-loop time constant Control signal Minimum and maximum limits for Steady-state value for a control signal Actual control signal () Operating condition of Bandwidth or natural frequency in PID controller design (rad/s) Operating condition of Damping coefficient in PID controller design Output signal Steady-state value of the output signal Actual output signal ()

       Acronyms

FFT	Fast Fourier transform
FSF	Frequency sampling filter
IPD	Alternative PID controller structure with proportional control and derivative control on output only
PID	Proportional, integral and derivative
PWM	Pulse Width Modulation

About the Companion Website

      This book is accompanied by a companion website:

      www.wiley.com/go/Wang/PIDcontrolsystem

      The website includes:

       Lecture slides

       MATLAB/Simulink programs

      Scan this QR code to visit the companion website.

1 Basics of PID Control

      1.1 Introduction

      This chapter will introduce the basic ideas of PID control systems. It starts with an introduction to the roles of proportional control, integral control, and derivative control, followed by an introduction to the various tuning rules developed over the past several decades. These tuning rules are mainly developed for first order plus delay systems and are simple to use. However, they do not, in general, guarantee satisfactory control system performance. Simulation

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