ENGINEERING.com | The Engineer's Ultimate Resource Tool. Welcome to the www.salome-platform.org — SALOME Platform. Open CASCADE Technology, 3D modeling & numerical simulation. OpenFOAM® - The Open Source Computational Fluid Dynamics (CFD) Toolbox. Home Page (October 2012) Introduction: PID Controller Design. In this tutorial we will introduce a simple yet versatile feedback compensator structure, the Proportional-Integral-Derivative (PID) controller. We will discuss the effect of each of the pid parameters on the closed-loop dynamics and demonstrate how to use a PID controller to improve the system performance. Key MATLAB commands used in this tutorial are: tf , step , pid , feedback , pidtool , pidtune Contents PID Overview In this tutorial, we will consider the following unity feedback system: The output of a PID controller, equal to the control input to the plant, in the time-domain is as follows: First, let's take a look at how the PID controller works in a closed-loop system using the schematic shown above. ) represents the tracking error, the difference between the desired input value ( ) and the actual output ( ). ) will be sent to the PID controller, and the controller computes both the derivative and the integral of this error signal. ) to the plant is equal to the proportional gain ( ).