REAL TIME TUNEABLE ANALOGUE PID CONTROLLER REALIZATION

This paper proposes a real time tunable analogue PID controller realisation witch can be used as a conventional PID, an adaptative PID or an intelligent PID “iPID”. The integral and derivative of the PID input signal are continuous time signals and never sampled. This avoid discretization issues such as aliasing phenomena and the critical sampling period choice. The operative PID circuit part is totally analogue. Few digital potentiometers and digital switches are used. This allows to tune the parameters values of the controller and select PI, PD, PID configuration. The analogue circuit part is designed with a new original circuit architecture. A prototype of the circuit is implemented. Experimentation results show good similarity to the theoretical simulations.