The basic idea of the I-PD control is to avoid large control signals (which will cause saturation phenomenon)
with in the system. By bringing the proportional and derivative control actions to the feedback path,
it is possible to choose larger values for Kp and Td than those possible by the PID control scheme.
to the disturbance input and to the reference input.
Solution. Consider first the response of the I-PD-controlled system to the disturbance input.
Since, in the I-PD control of a plant, it is possible to select larger values for K, and
Td than those of the PID-controlled case, the I-PD-controlled system will attenuate the effect of disturbance faster than the PID-controlled case.
I-PD-controlled system is equivalent to the PID-controlled system with input filter
(refer to Problem A-10-7), the PID-controlled system will have faster responses than the corresponding
I-PD-controlled system, provided a saturation phenomenon does not occur in the PID-controlled
system.
Compare, qualitatively, the responses of the PID-controlled system and I-PD-controlled system
Next, consider the response of the I-PD-controlled system to a reference input. Since the
The basic idea of the I-PD control is to avoid large control signals (which will cause saturation phenomenon) with in the system. By bringing the proportional and derivative control actions to the feedback path, it is possible to choose larger values for Kp and Td than those possible by the PID control scheme. to the disturbance input and to the reference input. Solution. Consider first the response of the I-PD-controlled system to the disturbance input. Since, in the I-PD control of a plant, it is possible to select larger values for K, and Td than those of the PID-controlled case, the I-PD-controlled system will attenuate the effect of disturbance faster than the PID-controlled case. I-PD-controlled system is equivalent to the PID-controlled system with input filter (refer to Problem A-10-7), the PID-controlled system will have faster responses than the corresponding I-PD-controlled system, provided a saturation phenomenon does not occur in the PID-controlled system. Compare, qualitatively, the responses of the PID-controlled system and I-PD-controlled system Next, consider the response of the I-PD-controlled system to a reference input. Since the
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