![]() Large values of Td create overshoots as it ‘guesses’ wrongly. Td is the look-ahead time to try to estimate future system behavior. The derivative action Td interprets the change of slope of error changes.Increasing Kp reduces rise time – the controller responds more aggressively to the error. The proportional action Kp will reduce the steady state error.I won’t cover the theory of PID controllers – there is a lot of material already available ( is a good overview), but in general a PID controller is configured using three parameters acting in sum to close the loop error – proportional gain (Kp), integral time (Ti), and derivative time (Td). What does “Tuning a PID Controller” mean? This second installment is about trying different hands-on methods of tuning the loop, understanding how they are derived, and how well they perform compared to each other. In the first part of this blog I described building a test apparatus that allows me to experiment with tuning a PID loop controlling a levitating pin pong ball in a tube. ![]()
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