# PID control

From www.wiki.ardumower.de

# Abstract

Ardumower uses a digital PID controller for

- heading/course tracking
- perimeter tracking
- motor speed control
- ...

# PID controller

Examples:

- Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small.
- Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small.

Proportional, Integral and Derivative (PID) controller concept:

P : Determines how aggressively the PID reacts to the current amount of error (Proportional) D : Determines how aggressively the PID reacts to the change in error (Derivative) I : Determines how aggressively the PID reacts to error over time (Integral)

# Velocity PID

The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:

# Simulator

For interactive learning, you can find a PID simulator here: PID simulator