cmon-pid

A implementation of several common PID controller transfer functions in C++, header only, without dependencies.

• Realized PID transfer functions

  • Serial
  • Parallel
  • N-Standard
  • Standard

• Numerical solution

  • Backward euler
  • Bilinear / Tustin

• Anti-windup

  • Clamping
  • Back-calculation

• Initialization

  • Steady State
  • Bump-less parameter change
  • Sampling points

• Simulation of a pid in closed loop with a second order test system

Usage:

#include <cmon-pid.h>
extern double GetActuator();
extern double Setpoint();
extern double SensorReading();
extern void SetActuator(double);
extern void Sleep(double);

void PidTask()
{

	// Select a pid object of class pid_bwe (backward euler)
	// or pid_bil (tustin) and
	// a anti-windup template class backcalculation_t
	// or clamping_t
	clamping_t<pid_bwe> pid;

	// Set PID parameters
	constexpr double samplingTime = 0.1;
	constexpr double gain = 10;
	constexpr double T1 = 10;
	constexpr double T2 = 3;
	pid.SerialPid(samplingTime, gain, T1, T2, samplingTime / 2);

	// Set clamping range
	pid.Clamping(-2, 10);

	// Initialize it
	pid.SteadyStateInit(GetActuator());

	// Control loop
	for (;;)
	{
		double e = Setpoint() - SensorReading();
		double y = pid.Update(e);
		SetActuator(y);
		Sleep(samplingTime);
	}
}