Process

PID controller

You might say: proportional-integral-derivative

A PID law combines proportional error, accumulated error and error-rate terms into a command.

What it does

It gives a joint or drive loop a compact, tunable feedback law.

Ask

Are the gains, sample time and derivative filtering matched to this plant and payload?

Parts

• PID gains: The three weights Kp, Ki and Kd set the proportional, integral and derivative contributions.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 11 §11.4.1.1A common feedback controller is linear proportional-integral-derivative control, or PID control.
2. Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, PID controlProportional-integral-derivative (PID) control is by far the most common way of using feedback in engineering systems.

Use it on your project

teardown-apply: hold "PID controller" (pid-controller) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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