PID algorithms and their computer implementation

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Abstract
Three-term or PID regulators are deservedly popular in industrial control systems. They give satisfactory performance for a wide class of processes, they are readily understood by technical plant personnel, and they are easy to implement using analogue or digital hardware. Stable elimination of offset due to load-disturbances is a principal control requirement, as in many cases processes are operated continuously at a fixed set-point Often this is achieved by the PI terms alone, though derivative action can be added for plant with excessive phase lag. In practice, however, nonlinear behaviour such as actuator saturation is a critical component of overall performance.

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