Integration of Derivative Control on SIPIC in Motor Speed Control

The proportional-integral-derivative (PID) controller is the most commonly used controller in control application due to its simplicity. However, the control output may exceed the plant input limit which eventually deteriorates the system performance. This is known as a windup phenomenon, which causes large overshoot, long settling time and instability in the control system. Various anti-windup methods have been introduced to overcome the windup phenomenon such as the Steady-State Integral Proportional-Integral Controller (SIPIC). Due to the coupling of the proportional, integral and derivative tuning gains, it is difficult to tune for non-overshoot and short settling time to coexist in a PID. With decoupling, a greater range of tuning gains can be applied to control the rising slope without disturbing the damping state. Currently, SIPIC with decoupling effect has only been studied for the proportional and integral tuning gains. This paper presents the effect of integrating derivative control on SIPIC in motor speed control. SIPIC+D shows better speed control on a direct current motor under no-load and loading conditions compared with other existing anti-windup added with derivative control.