MATLAB Simulation of Incremental PID Control Algorithm

This article describes a MATLAB simulation program that utilizes the incremental PID algorithm. The program implements the functionality of the incremental PID algorithm using difference equation objects.

Specifically, the incremental PID algorithm is a control algorithm based on difference equations. It calculates the control output for the current time step by computing the difference between the current and previous error values, as well as the difference between the previous error and the error from two steps prior. The algorithm's key advantage lies in its ability to compensate for dead zones in control systems, thereby improving system response speed and stability. The MATLAB simulation program employs difference equation implementation where the PID controller update is computed as Δu(k) = Kp*(e(k)-e(k-1)) + Ki*e(k) + Kd*(e(k)-2e(k-1)+e(k-2)), where e(k) represents the current error term. This implementation enables precise control of the target system and allows for parameter adjustment and performance optimization according to practical requirements through tuning of the proportional (Kp), integral (Ki), and derivative (Kd) gains.