ABSTRACT
This chapter develops the basic relationships to solve the motion control problem using analog and digital proportional-integral-derivative (PID) controllers. It solves practical problems using PID-type control algorithms that are found to be straightforward and well-understood, reliable, and efficient for solving the motion control problems for nonlinear electromechanical systems. Proportional, proportional-integral, and proportional-integral-derivative control algorithms are widely used in electromechanical systems, and power amplifiers integrate PID controllers to attain tracking control and disturbance attenuation. The chapter provides an introduction to motion control and feedback tracking. The design procedures are reported to find the structures and feedback coefficients of PID-type controllers. The objective is to design the controller from the PID-type algorithms and find the proportional, integral, and derivative feedback coefficients to ensure that the tracking error e(t) converges to zero as time approaches infinity. Permanent-magnet DC motors, as well as other electric machines used in electromechanical systems, are continuous-time systems.
