Mikrokontrollerid ja praktiline robootika
proportional control. What are the functions of Integral and Derivative
terms in the PID equation.
Solution:
Draw a PID control system: (Figure 5.5, page 111)
Write down an equation to describe the PID control: (page 111)
Compare the differences and the advantages between the “bang-bang“
control and Proportional control: (page 105)
“Bang-Bang“ control or ON-OFF control is the simplest control system. It
turns ON when the system needs more INPUT and tuns OFF if the system
doesn’t need INPUT any more. The INPUT is similar to the PWM square
wave (running ON and OFF during the length of the needed INPUT).
Bang-Bang control is similar to the PWM input signal
Proportional control:
Bang-Bang control and Proportional control
So that:
ON-Off Control: When error = 0, turn OFF, when error ≠ 0, turn ON (Gain
not changed).
Proportional Control: Output = G x e. If e great -> G great, e small -> G
annaabi.ee 
