Mike Waters et al
Anadigm

PID control is the most well known form of feedback control in embedded systems. Its use spans such applications as chemical processes, bacteria growth, flight control systems, oil refineries, and automobile control. This paper will discuss some useful rules of thumb and techniques for designing PID controllers quickly and efficiently. The paper will cover types of plant models, plant analysis techniques, types of PID controllers seen in the industrial world, and tuning rules. As a real-life example, we'll conclude with an analysis of a PID implementation using a field programmable analog array.