Hi Joe Zisa,
It is my understanding that you want to create a PID controller in MATLAB script. You can use a “pid” controller object within a script to process input values and calculate the corresponding output. Here is a sample code for the same:
% Define PID gains
Kp = 1; % Proportional gain
Ki = 0.1; % Integral gain
Kd = 0.01; % Derivative gain
% Create the PID controller object
pidController = pid(Kp, Ki, Kd);
% Initialize simulation parameters
dt = 0.01; % Time step (s)
endTime = 10; % Simulation end time (s)
time = 0:dt:endTime; % Time vector
% Initialize variables for simulation
output = zeros(size(time)); % Output of the PID controller
input = sin(time); % Example input signal (replace with actual sensor reading)
previousError = 0; % Previous error for derivative term
integral = 0; % Integral term
% Simulation loop
for i = 1:length(time)
% Calculate the error signal
setpoint = 0; % Desired setpoint (replace with actual setpoint if variable)
error = setpoint - input(i);
% Update integral term
integral = integral + error * dt;
% Calculate derivative term
if i == 1
derivative = 0;
else
derivative = (error - previousError) / dt;
end
% Compute the PID controller output
output(i) = Kp * error + Ki * integral + Kd * derivative;
% Send the output to the actuator (replace with actual actuator control code)
% actuatorControl(output(i));
% Update previous error
previousError = error;
% Wait for next time step (optional, for real-time simulation)
pause(dt);
end
% Plot the results (optional)
plot(time, input, time, output);
legend('Input', 'PID Output');
xlabel('Time (s)');
ylabel('Value');
In this example, the input signal is a sine wave, which you can replace with the actual sensor readings from the hardware. The commented “actuatorControl” function is a placeholder for the function to send the computed PID output to the actuator.
You can refer to the following documentation to know more about the functions used:
Best Regards,
Abhishek Chakram
