Rewriting a PID controller in state space form
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Rerunning now will just update the plots rather than plotting more
Latest commit 6d2867e May 13, 2016

README.md

PID in State Space Form

This was something I was wondering if you could do and when I searched there was one guy who apparently has worked out the math.

Derivation

PIDvsSS.{pdf,tex}

The full derivation and outputs from the example system

handout.{pdf,tex}

A summary of the important equation

PIDvsSS with Additional Setpoint Term.{pdf,tex}

A version with closer to the original work the other guy did

OriginalPaper/paper.html

A copy of the original paper but with the images showing correctly. At the moment I downloaded it, his plots wouldn't show up.

Examples

example.m

Run the example in Octave

example_matlab.m

Run the example in Matlab

example_additional_setpoint.m

Run the example using the state space form closer to the original in the other guy's paper

References

Original Paper / Inspiration