New anti-windup Proportional-Integral-Derivative for motor speed control

The proportional-integral-derivative (PID) was developed and recognized for its reliability. A PID controller is not only simple but also relatively cheap. However, the controller causes system performance degeneration over time due to the presence of windup in a motor speed control system. The windup phenomenon is caused by the saturated control state. Various anti-windup methods were introduced to decrease a system's long settling time and extreme overshooting. Most anti-windup techniques require integral switching between saturated and unsaturated states, whereby both versions of steady-state integral proportional-integral controller do not need integral switching mechanism. They possess a certain degree of decoupling between $k_p$ and $k_i$ tuning parameters and tested to allow a more comprehensive range of tuning in the absence of derivative control. This research investigated the impact of derivative control component on the tuning gain decoupling through hardware simulation. By integrating the derivative component, $k_d$, the control system demonstrated an improved system stability and reduced overshoot. Result shows that the decoupling feature allows SIPIC01+D and SIPIC02+D controllers to produce performance with zero overshoot and short settling time. However, SIPIC01+D has better dynamical performance with fastest rise and settling time with no overshoot as compared to other anti-windup controllers.