Design Control Loop
30 minutesDefine plant model, setpoint, control output limits, and tuning method (Ziegler-Nichols or manual).
Field context
This workflow is part of 4 niche fields
Complete guide for pid tuning workshop — step-by-step workflow, tools, checklist, and expert tips to get started.
Define plant model, setpoint, control output limits, and tuning method (Ziegler-Nichols or manual).
Estimate starting Kp, Ki, Kd from plant parameters and required loop sampling rate.
Implement PID controller in firmware, set sampling timer, and add serial logging for error plots.
Apply step inputs, observe response, adjust gains iteratively, and verify steady-state error.
Estimate initial Kp, Ki, Kd from plant time constants.
Set control loop timer frequency for stable PID execution.
Convert motor output to linear speed for velocity loop tuning.
Verify output limits stay within motor torque capacity during tuning.
Key benchmarks for pid tuning workshop.
| Term | Effect | Risk |
|---|---|---|
| Kp | Response speed | Oscillation |
| Ki | Steady error | Windup |
| Kd | Damping | Noise amp |
Set actuator output saturation before tuning — unconstrained PID can burn out motors.
Serial plot setpoint, error, and output — visual feedback beats guess-and-check tuning.
Tune PID in simulation with plant model before running on real hardware — prevents damage.