![]() This control signal ( ) is fed to the plant and the new output ( ) is obtained. The control signal ( ) to the plant is equal to the proportional gain ( ) times the magnitude of the error plus the integral gain ( ) times the integral of the error plus the derivative gain ( ) times the derivative of the error. This error signal ( ) is fed to the PID controller, and the controller computes both the derivative and the integral of this error signal with ![]() ( ) represents the tracking error, the difference between the desired output ( ) and the actual output ( ). The output of a PID controller, which is equal to the control input to the plant, is calculated in the time domain from theįirst, let's take a look at how the PID controller works in a closed-loop system using the schematic shown above. In this tutorial, we will consider the following unity-feedback system:
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