DCPositionControl

PID Architecture: The error e(t) between target angle and motor position is processed via Kp, Ki, and Kd gains.

1. PID Architecture: The error e(t) between target angle and motor position is processed via Kp, Ki, and Kd gains.

2. Controller Roles:

• Kp (Proportional): Increases loop stiffness, speeds up response, and reduces rise time (tr).

• Ki (Integral): Accumulates past error over time to completely eliminate steady-state error (ess).

• Kd (Derivative): Predicts error trend, adds damping, and suppresses peak overshoot (Mp).

3. Transient Performance Metrics:

• Rise Time (tr): Time to transition from 10% to 90% of final target position.

• Peak Time (tp): Time required to reach the very first overshoot peak.

• Settling Time (ts): Time required for output to stay within ±2% error band.

4. Damping & Stability: Controlled by damping ratio (zeta). Underdamped (<1) rings; Critically damped (=1) is optimal.

5. Student Exercise: Use preset buttons (P, PI, PD, PID) or tune knobs to analyze response and generate reports.