Читать книгу PID Passivity-Based Control of Nonlinear Systems with Applications - Romeo Ortega - Страница 22

There are many important practical issues regarding PIDs that are not discussed in the book. For instance, the need to introduce an anti‐windup mechanism in the presence of saturation, limitations of the derivative gain, filtering the derivative action, and the use of other architectures of the PID. Also, the simplicity of the PID structure imposes limitations, for example on the set of unstable plants that can be stabilized with this class of controller and the difficulty of handling time delays and complex systems. For a detailed discussion of these, and other PID implementation issues, the interested reader is referred to Ang et al. (2005), Åstrom and Hägglund (1995, 2001), and Åstrom (2018).