On the Comparisons of PID and GI-PD Control

Abstract

In conjunction with a second order uncertain nonlinear system, this paper makes some comparisons between PID control and general-integral-proportional-derivative (GI-PD) control; that is, by Routh’s stability criterion, we demonstrate that the system matrix under GI-PD control can be stabilized more easily; by linear system theory and Lyapunov method, we demonstrate that GI-PD control can deal with the uncertain nonlinearity more effectively; by analyzing and comparing the integral control action, we demonstrate that GI-PD control has the better control performance. Design example and simulation results verify the justification of our conclusions again. All these mean that GI-PD control has the stronger robustness and higher control performance than PID control. Consequently, GI-PD control has broader application prospects than PID control.