PID-based Practical Digital Control with Raspberry Pi and Arduino Uno: Raspberry Pi and Arduino Uno

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PID-based Practical Digital Control
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	Contents
	Preface
1 • Control Systems
	1.1 Open-loop and closed-loop
	1.2 Microcontroller in the loop
	1.3 Control system design
2 • Sensors
	2.1 Sensors in Computer Control
	2.2 Temperature Sensors
		2.2.1 Analog Temperature Sensors
		2.2.2 Digital Temperature Sensors
	2.3 Position Sensors
	2.4 Velocity and Acceleration Sensors
	2.5 Force Sensors
	2.6 Pressure sensors
	2.7 Liquid Sensors
	2.8 Flow Sensors
3 • Transfer Functions and Time Response
	3.1 Overview
	3.2 First-order Systems
		3.2.1 Time Response
	3.3 Second-order Systems
		3.3.1 Time Response
	3.4 Time Delay
	3.5 Transfer Function of a Closed-loop System
4 • Discrete Time (Digital) Systems
	4.1 Overview
	4.2 The Sampling Process
	4.3 The Z-Transform
		4.3.1 Unit step function
		4.3.2 Unit ramp function
		4.3.3 Tables of z-Transforms
	4.4 The z-Transform of a function expressed as a Laplace Transform
	4.5 Inverse z-Transforms
	4.6 Pulse transfer function and manipulation of block diagrams
		4.6.1 Open-loop systems
	4.7 Open-loop time response
	4.8 Closed-loop system time response
5 • The PID Controller in Continuous-Time Systems
	5.1 Overview
	5.2 Proportional-only Controller with a First-Order System
	5.3 Integral-Only Controller with a First-order System
	5.4 Derivative-only Controller with a First-order System
	5.5 Proportional + Integral Controller with a First-order System
	5.6 Proportional + Integral + Derivative controller with a First-order System
	5.7 Effects of Changing the PID Parameters
	5.8 Tuning a PID Controller
		5.8.1 Open-loop Ziegler and Nichols Tuning
		5.8.2 Open-loop Cohen-Coon PID Tuning
		5.8.3 Closed-loop Tuning
		5.8.4 Practical PID Tuning
	5.9 The Auto-tuning PID Controller
	5.10 Increasing and Decreasing PID Parameters
	5.11 Saturation and Integral Wind-up
	5.12 Derivative Kick
	5.13 Using the PID Loop Simulator
6 • The Digital PID Controller
	6.1 Overview
	6.2 Digital PID
	6.3 Choosing a Sampling Time, T
	6.4 Microcontroller Implementation of the PID Algorithm
7 • On-Off Temperature Control
	7.1 Overview
	7.2 Temperature Controllers
	7.3 Project 1: ON-OFF Temperature Control with Arduino Uno
	7.4 Project 2: ON-OFF Temperature Control with Hysteresis and Arduino Uno
	7.5 Project 3: ON-OFF Temperature Control with Button Control – Arduino Uno
	7.6 Project 4: ON-OFF Temperature Control with Rotary Encoder and Arduino Uno
	7.7 Project 5: ON-OFF Temperature Control with Raspberry Pi 4
8 • PID Temperature Control with the Raspberry Pi
	8.1 Overview
	8.2 Project 1 - Reading the temperature of a thermistor
	8.3 Project 2: Open-loop Step-input Time Response
	8.4 Project 3: PI Temperature Control
	8.5 Project 4: PID Temperature Control
	8.6 Using the PID Loop Simulator
9 • PID Temperature Control with the Arduino Uno
	9.1 Overview
	9.2 Project 1: Reading the Temperature of a Thermistor
	9.3 Project 2: PID Temperature Control
	9.4 Project 3: PID Temperature Control with Arduino Uno and Timer Interrupts
	9.5 Project 4: PID Temperature Control using the Arduino Uno PID Library
10 • DC Motor Control with Arduino and Raspberry Pi
	10.1 Overview
	10.2 Types of Electric Motors
	10.3 Brushed DC Motors
		10.3.1 Permanent-magnet BDC Motors
		10.3.2 Series-wound BDC Motors
		10.3.3 Shunt-wound BDC Motors
		10.3.4 Compound-wound BDC Motors
		10.3.5 Separately-excited BDC Motors
		10.3.6 Servo Motors
		10.3.7 Stepper Motors
	10.4 Brushless DC Motors
	10.5 Motor Selection
	10.6 Transfer Function of a Brushed DC Motor
	10.7 The DC Motor Used in the Projects
	10.8 Project 1: Motor Speed and Direction Control Using an H-Bridge Integrated Circuit
	10.9 Project 2: Displaying the Motor Speed with Arduino Uno
	10.10 Project 3: Displaying Motor Speed on LCD with Arduino Uno
	10.11 Project 4: Displaying Motor Speed with Raspberry Pi
	10.12 Project 5: Displaying Motor Speed on LCD with Raspberry Pi
	10.13 Project 6: Identification of the DC Motor with Raspberry Pi
	10.14 Project 7: PID Motor Speed control with Raspberry Pi
	10.15 Project 8: PID Motor Speed Control with Arduino Uno
11 • Water Level Control
	11.1 Overview
	11.2 Ultrasonic Transmitter-Receiver Module
	11.3 Project 1: Measuring Distance using the HC-SR04 Ultrasonic Module with Arduino Uno
	11.4 Project 2: Measuring Distance using the HC-SR04 Ultrasonic Module with Raspberry Pi
	11.5 Project 3: Step Input Response of the System with Raspberry Pi
	11.6 Project 4: PID-based Water Level Control with Raspberry Pi
	11.7 Project 5: PID-based Water Level Control with Arduino Uno
12 • PID-based LED Brightness Control
	12.1 Overview
	12.2 Project 1: Step Time Response of LED Brightness Control using the Raspberry Pi
	12.3 Project 2: PID-Based LED Brightness Control using the Raspberry Pi
	12.4 Project 3: PID-based LED Brightness Control using the Arduino Uno
	12.5 Project 4: PID-based LED Brightness Control using the Arduino Uno Library
Index
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