Pid Controller:comparative Analysis and Design of Diverse Realizations: (Moving Towards Efficient Control in Robotics and Industries)

Digital PID controller is one of the most powerful and efficient way of controlling used in industrial and robotic applications. In this book i have presented comparison of two diverse realizations of FPGA based digital PID controller. One realization is multiplier based and other one is multiplier less, which is implemented through Distributed Arithmetic Look Up Table(DALUT). Distributed arithmetic is an efficient technique that have first been used for DSP filters since 1974 as presented by Peled and B. Liu to compute inner products using Look Up Tables. It is quite some time that DA based approach is also used in controllers, in this book advantages of DA approach have been lightened. DALUT based PID controller is more efficient as it converts multiplication to bit selection, which speeds up the process, also it utilizes less power and hardware resources. Both realizations are simulated in Matlab/Simulink environment as it is similar to soft wares used in industries. Xilinx SysGen is used to translate both the realizations to bit stream and then downloaded to the target FPGA. Also Xilinx provides the necessary comparison showing DALUT approach much better.