Dear Amin,

Try and read the following attached links & articles, they will help you alot.

Try and work on the examples , you will master everything, practice makes perfect!!

Good Luck

http://ctms.engin.umich.edu/CTMS/index.php?example=Suspension§ion=ControlPID

http://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition§ion=ControlPID

http://www.mathworks.com/discovery/pid-control.html

Dear Amin,

Try and read the following attached links & articles, they will help you alot.

Try and work on the examples , you will master everything, practice makes perfect!!

Good Luck

http://ctms.engin.umich.edu/CTMS/index.php?example=Suspension§ion=ControlPID

http://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition§ion=ControlPID

http://www.mathworks.com/discovery/pid-control.html

Since you have already got some links I would like to give my contribution on this topic by sharing a possible application of PIDs for controlling robots and cranes. See attached publications.

Conference Paper A Mapping Approach for Controlling Different Maritime Cranes...

The references above have already covered some of the standard material on the subject.

For a broader sweep of the methods that are possible, look at

http://home.hit.no/~finnh/presentations/2010/ni_day/ni_day_mpc_pid_april_2010.pdf

for Skogestad's method of PID tuning,

https://lup.lub.lu.se/search/publication/535630

for all the state of the art in PIDs.

If you are looking to automate the tuning of the PID controller, you could use the results here: http://flyingv.ucsd.edu/smoura/files/ME569.pdf  or here https://www.researchgate.net/publication/3207695_PID_tuning_using_extremum_seeking_online_model-free_performance_optimization

What you do depends upon whether you are working with a simulated system or with hardware in the loop. If you are working with hardware in the loop, it is NOT advisable to perform Ziegler-Nichols tuning (https://controls.engin.umich.edu/wiki/index.php/PIDTuningClassical) unless your system is very stable (e.g., some chemical plants).

PID in today's process plants is generally tuned by Model Predictive Control or receding horizon control methods. An example is http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5498137&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5498137

The oldest references date from the 1990s in this area.

PIDs can also be automatically tuned using Linear Matrix Inequality methods--

https://www.researchgate.net/publication/224056858_Integrated_System_Design_with_PID_Controllers_via_LMIs

deals with a specific problem, and

https://web.stanford.edu/~boyd/papers/pdf/mimo_pid_tuning.pdf

contains all the details on the most general problem.

Article PID tuning using extremum seeking - Online, model-free perfo...

Conference Paper Integrated system design with PID controllers via LMIs

Dear Amin,

First, it is a very wide topic; the above answers and suggestions are all good, but they are a drop in a sea. All types of classical as well as modern optimization techniques can be used to determine the PID parameters for linear and nonlinear systems. Basically, the fitness function is the weighted area under the system response, which can be obtained by a matlab simulation for finite period time.

In addition to what was suggested by Mr. Hazim & others, this video tutorial used to be helping.

http://www.youtube.com/watch?v=cJ7q4EltyE0

Well done عفية عليك يا امين; practice makes perfect.

can anyone please provide a sample that can control any physical machine like dc motor or pressure control system . not using commands but using codes. so that I can implement P,I,D,Pi,PD,PID using sampling time in matlab script and control the system in real-time. I know how to simulate in sisotool, simulink and command. but I want to control a system that has some dedicated commands and with writing some code for any controller . the dedicated functions given can be used to get current state of parameters and to start and stop the machine.

just as an example u can use this way t design pid parameters

sys=zpk([],[-0.045],0.0067)

co=pidstd(1,1,1)

c=pidtune(sys,co)

Please refer to these articles:

https://www.researchgate.net/publication/313576646_From_PID_to_Nonlinear_State_Error_Feedback_Controller

https://www.researchgate.net/publication/312046377_Improved_Sliding_Mode_Nonlinear_Extended_State_Observer_based_Active_Disturbance_Rejection_Control_for_Uncertain_Systems_with_Unknown_Total_Disturbance

https://www.researchgate.net/publication/309655805_On_the_Improved_Nonlinear_Tracking_Differentiator_based_Nonlinear_PID_Controller_Design

Article From PID to Nonlinear State Error Feedback Controller

Article Improved Sliding Mode Nonlinear Extended State Observer base...

Article On the Improved Nonlinear Tracking Differentiator based Nonl...

Try to call model in any optimization problem, and try to reduce the steady state error

If your PID should work on real system, not just in Simulink, focus on topics described in Matlab tutorial, e.g. integrator anti wind-up, bumpless swithing, etc. Nice tuning tutorials also at http://www.pidlab.com

Since I have the same problem I ll try to clarify the question. There is lot of information on how to simulate a plant and tune the PID controller using Simulink and other apps. However, there is almost no information on how to implement the controller into the main matlab script to directly control the (real) actuator system. Thus, I have simulated the system and tuned the PID controller (through the PID -tuner app) but the implementation of the tuned PID into the main script, which controls the actuator is not trivial (I could not find any information regarding code generation from simulink to matlab). So, the problem is NOT the tuning of the PID controller but the IMPLEMENTATION of the tuned PID controller in the main script. I have found some PID scripts for matlab :

https://ch.mathworks.com/matlabcentral/fileexchange/35163-matlab-based-pid-controller

https://ch.mathworks.com/matlabcentral/fileexchange/22150-pid-controller-matlab-code

However, since there are so many advanced software and functions related to the tuning of an optimized PID I find it hard to believe that there is no automated procedure to go from the simulation to the real thing.

Can anyone suggest any hints and resources?

In recent version of the MATLAB, there is an excellent app for the optimized design of PID controllers. You need to provide the TFs of your plant, and the desired response indicators, such as settling time, maximum overshoot ... etc