Restrições em Controladores PID

PID controllers play a fundamental role in the industry, being widely adopted due to their versatility and efficiency in controlling dynamic processes. However, the practical application of these controllers is subject to various constraints inherent to physical systems, such as actuator saturation and mode switching. These limitations can compromise system performance, leading to undesirable effects such as windup and bumps, which affect the controller’s stability and response. Given this scenario, this study aims to analyze and quantify the impact of these constraints on the behavior of PI and PID controllers in first-order systems with pure time delay, as well as to investigate the effectiveness of techniques designed to mitigate their effects. To achieve this, simulations were performed in MATLAB®’s Simulink environment, allowing the evaluation of controller performance under different operating conditions. The back-calculation method was adopted as an anti-windup strategy, while the bumpless-transfer technique was implemented to smooth the transition between operating modes.