Texas Instruments C2000 Technical Training

PID Control Review

Proportional term controls loop gain
 Integral action increases low frequency gain and
reduces/eliminates steady state errors
 Derivative action adds phase lead which improves
stability and increases system bandwidth
∫
++=
dt
t
de
D
Kdtte
I
Kte
P
Kty
)
(
).()()(
∫
dte.
dt
de
K
P
= Proportional gain
K
I
= Integral gain
K
D
= Derivative gain
+
K
P
K
I
K
D
e(t) y(t)
G
c
(s)
s
D
K
s
I
K
P
Ks
C
G ++=)(










++= s
d
T
s
i
T
C
Ks
C
G
1
1)(
Usually written in “parallel” form:
K
P
= K
C
K
I
= K
C
/T
i
K
D
= K
C
T
d

Texas Instruments C2000 Specifications

General

Brand	Texas Instruments
Model	C2000
Category	Microcontrollers
Language	English