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arXiv · 2411.14678

Reinterpreting PID Controller From the Perspective of State Feedback and Lumped Disturbance Compensation

Xinyu Shi
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Abstract

This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a disturbance observer, which are responsible for stabilizing the homogeneous system and compensating for the lumped disturbances (non-homogeneous components) of the system respectively. Based on this framework, the impact of measurement noise on control performance is examined, and a parameter tuning scheme for the traditional PID controller is provided. Finally, as examples, controllers are designed for two representative control problems: a trajectory tracking controller for an underactuated vertical takeoff and landing (VTOL) aircraft in the time domain, and a lateral controller for a vehicle in the distance domain.

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Xinyu Shi. 2024-11-22. Reinterpreting PID Controller From the Perspective of State Feedback and Lumped Disturbance Compensation. https://arxiv.org/abs/2411.14678

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