강인 PID 제어기 설계

In order to implement the digital PID control algorithm, it is necessary to consider the effect of the finite word length(FWL). In this paper, we show the FWL effect in the digital PID controllers. The conception analyse the effects of the signal quantization error in the digital PID algorithm and the coefficient wordlength determined from performance criteria with the statistical wordlength concept. Throughout this paper, it is dealt with the type of controller structure based delta operator, the delta operator has such advantages are superior rounfoff noise performance, more accurate coefficient repersentation, and less sensitive control law.