PID Control - MATLAB & Simulink

Design and implement PID controllers

PID control involves several tasks that include:

Selecting an appropriate PID algorithm (P, PI, or PID)
Tuning controller gains
Simulating the controller against a plant model
Implementing the controller on a target processor

While simple in theory, design and implementation of PID controllers can be difficult and time consuming in practice.

MATLAB and add-on products bring efficiency to these design tasks by enabling you to:

Configure your Simulink PID Controller block for PID algorithm (P,PI, or PID), controller form (parallel or standard), anti-windup protection (on or off), and controller output saturation (on or off)
Automatically tune controller gains against a plant model and fine-tune your design interactively
Autotune controller gains in real time against a physical plant
Tune multiple controllers in batch mode
Run closed-loop system simulation by connecting your PID Controller block to the plant model
Automatically generate C code for targeting a microcontroller
Automatically generate IEC 61131 structured text for targeting a PLC or PAC
Automatically scale controller gains to implement your controller on a processor with fixed-point arithmetic

Examples and How To

Workflow

PID Control Made Easy (44:46) - Video
PID Control Design Made Easy - Article

Modeling

Anti-Windup Control Using a PID Controller - Example
Bumpless Control Transfer Between Manual and PID Control - Example
Two Degree-of-Freedom PID Control for Setpoint Tracking - Example

PID Tuning Against a Plant Model

PID Control Design with Control System Toolbox (2:22) - Video
PID Controller Tuning Based on Measured Input-Output Data (3:52) - Video
Designing PID for Disturbance Rejection with PID Tuner - Example
Designing Cascade Control System with PID Controllers - Example
Control of Processes with Long Dead Time: The Smith Predictor - Example

Motor Control

Power Conversion

Active Power Factor Correction (7:39) - Video
PID Controller Tuning for a Buck Converter (6:31) - Video
PID Controller Tuning for a Model with Discontinuities (5:40) - Video
Design PID Controllers for Three-Phase Rectifier Using Closed-Loop PID Autotuner Block - Example
Design PID Controller Using Simulated I/O Data - Example

Robotics

Multi-Loop PI Control of a Robotic Arm - Example

Chemical Processes

Gain Scheduling of PID Controllers (4:51) - Video
Designing a Family of Controllers for Multiple Operating Points - Example

Mechanical

Automated PID Tuning - Example
Designing PID Controller Using with Estimated Frequency Response - Example

Real-Time PID Autotuning

Embedded PID Autotuner (6:35) - Video
Tune PID Controller in Real Time Using Closed-Loop PID Autotuner Block - Example
Tune PID Controller in Real Time Using Open-Loop PID Autotuner Block - Example

FAQ

PID Tuning and Design Questions and Answers - MATLAB Answers

Tutorials

Carnegie Mellon University PID Tutorial - Tutorial

Software Reference

Modeling

PID Controller Block in Simulink - Documentation
PID Controller (2DOF) Block - Documentation
PID - Documentation

PID Tuning

PID Tuning with Control System Toolbox - Documentation
Automatic PID Tuning with Simulink Control Design - Documentation
Real-Time PID Autotuning - Documentation
Closed-Loop PID Autotuner - Documentation
Open-Loop PID Autotuner - Documentation

See also: control systems, system design and simulation, physical modeling, linearization, parameter estimation, PID tuning, control design software, Bode plot, root locus, PID control videos, field-oriented control, BLDC motor control, motor simulation for motor control design, power factor correction, small signal analysis

PID Control Design with Control System Toolbox

Download Code Examples

Learn how to automatically tune PID controller gains