Knob
PID gains
You might say: tuning, Kp Ki Kd
The three weights Kp, Ki and Kd set the proportional, integral and derivative contributions.
- What it does
- They trade response speed, steady-state error and transient overshoot or settling.
- Ask
- After a step, what are the steady-state error, rise time, overshoot and settling time?
- Trouble
- Excessive gain can cause overshoot or oscillation; insufficient gain can leave a slow or inaccurate response.
What to look for
- Step response reaching the target
- Overshoot or ringing
- Settling and steady-state error
Catalogue: Tuning
- Soft (overdamped): This tuning choice is evaluated by its settling time, overshoot and steady-state error.
- Well tuned (near critical damping): A well-tuned response reaches the target quickly with small overshoot and short settling time.
- Aggressive (underdamped): Aggressive gains can shorten rise time but may increase overshoot, ringing and settling time.
Connections
- Lowers: Tracking error
Sources
- Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Ch. 11, PID tuning, integral windup and implementation
Proportional-integral-derivative (PID) control is by far the most common way of using feedback in engineering systems.
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §11.2.1 Error Response
In summary, the error response can be characterized by its steady-state response, which refers to the final error achieved, and its transient response, which consists of the overshoot and settling time.
Use it on your project
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