Design and Application of a Microprocessor PID Predictor Controller

A digital PID predictor controller is designed and implemented in a microprocessor. The general purpose system controller described permits the use of integer arithmetic for efficient operation with minimum throughput delay time. The stability of the system is investigated and a normalized chart for the selection of the control coefficients for a class of applications is developed. The controller has been applied to the control of a manipulator as a design example.