**PID Control**

**08/12/17**

*“What is one model for a closed loop controller?”*

Imagine a robot moving from one spot to another. If it was operating under a closed loop controller system, it would work by sensing the target location, comparing it to the current location and performing an error estimation. However, what is one way that we can implement this? Well, let’s begin with one idea; for every second we are not at our setpoint (destination) let’s take how far we are, take it as an error value, and put it on a graph. Then, let’s take the **proportion **(or magnitude of the error), **integral** (area under the graph) and **derivative **(current rate of change) and combine these values to estimate how far we are from our desired value. This type of control is known as **proportional-integral-derivative control **(or **PID**) and is implemented in control systems worldwide.

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