Implementing discrete PID controllers: Benchmarking manual vs. Automatic generation of embedded code

摘要

PID controllers are fundamental in many control applications, thanks to their effectiveness, understanding from designers, tunability to different systems, overall performance. When coming to their embedded implementation, different approaches exist: manufacturer-provided libraries, user-defined editions, automatically generated code. This paper addresses these different choices and benchmarks their results, both in order to help designers in the judgment and make apprentices understand the practical consequences of key concepts as system discretization and frequency-domain description.