Abstract

With its three-term functionality offering treatment of both transient and steady-state responses, the Proportional-Integral-Derivative (PID) control system provides a generic and efficient solution to real-world control problems. In this project report, two strategies for tuning PID parameters are designed for coupled control systems, using the ideas of forced decoupling, and using different PID parameters for different control scenarios to reduce the interference between the outputs of the coupled systems. These strategies have been applied in the EE3305 Path Planning and Navigation project and the CG1111A mBot maze project, thus solving real-world control problems.