The Effect Of A PD vs PID Controller On Their Ability To Control An Unstable System

Nicholas Junker

Abstract

PID controllers are widely used in control systems, ranging from rocket stabilization to autopilot programs to advanced phone chargers. While the PID controller is relatively simple, much more simplified versions exist, such as the PD controller. This research was aimed at the goal of determining the advantages and disadvantages between a PID controller and a more simple PD controller by the use of an inverted pendulum system. It was hypothesized that the PID controller would be more effective at balancing the inverted pendulum system than the PD controller. The inverted pendulum was first assembled, and the Arduino Uno microcontroller was programmed. The inverted pendulum was then calibrated, and the system was turned on. Ten trials were performed in total, with five for the PID controller and five for the PD controller. The mean angle of the inverted pendulum was calculated for both the PID and PD controller, showing that the mean angle of the PID controller was -0.1 degrees, while the mean angle of the PD controller was 1.1 degrees. This indicated that the PID controller was more effective at balancing the inverted pendulum than the PD controller. A z-test was then performed on the data, which showed that while both the z-value of the PID and PD controller fell above the critical value, the PID controller had a significantly smaller z-value than the PD controller. This showed that the PID controller was much more effective at balancing the inverted pendulum than the PD controller.

 
Apr 10th, 12:00 AM

The Effect Of A PD vs PID Controller On Their Ability To Control An Unstable System

PID controllers are widely used in control systems, ranging from rocket stabilization to autopilot programs to advanced phone chargers. While the PID controller is relatively simple, much more simplified versions exist, such as the PD controller. This research was aimed at the goal of determining the advantages and disadvantages between a PID controller and a more simple PD controller by the use of an inverted pendulum system. It was hypothesized that the PID controller would be more effective at balancing the inverted pendulum system than the PD controller. The inverted pendulum was first assembled, and the Arduino Uno microcontroller was programmed. The inverted pendulum was then calibrated, and the system was turned on. Ten trials were performed in total, with five for the PID controller and five for the PD controller. The mean angle of the inverted pendulum was calculated for both the PID and PD controller, showing that the mean angle of the PID controller was -0.1 degrees, while the mean angle of the PD controller was 1.1 degrees. This indicated that the PID controller was more effective at balancing the inverted pendulum than the PD controller. A z-test was then performed on the data, which showed that while both the z-value of the PID and PD controller fell above the critical value, the PID controller had a significantly smaller z-value than the PD controller. This showed that the PID controller was much more effective at balancing the inverted pendulum than the PD controller.