CDS 101/110 - PID Control

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CDS 101/110a Schedule Recitations FAQ ()


The learning objectives for this week are:

  • Students should be to design a PID controller that satisfies a frequency domain performance specification
  • Students should understand the limitations imposed by actuator saturation and implement a simple anti-windup compensator

Monday: PID Overview (Slides, MP3)

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. We compare the PID controller to loop shaping designs (such as lead compensation) and show how to obtain initial PID gains using Ziegler-Nichols tuning rules. The issues of windup and anti-windup compensation are briefly discussed.

Wednesday: PID Implementation (Notes, MP3)

This lecture provides more details on the implementation of PID control, including the representation of PID controllers in state space. The problems of windup and saturation are also discussed.

Friday: no class (Thanksgiving break)


  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..
    • CDS 101: Read sections 10.1, 10.3 [30 min]
    • CDS 110: Read sections 10.1, 10.3-10.5 [45 min]
    • CDS 210: AM08 10.1, 10.3, DFT Ch 6 [90 min]


  • Homework #8
    • sisotool - display standard linear system plots on a single screen
    • feedback - generate a closed loop system from a loop transfer function