Conditional integration on PID for types 1 and 2 control systems

In this paper some practical aspects of PI(D) controllers regarding conditional integration are described. This paper describes the integral action of a PID controller, which is managed as a function of set-point changes and control error sign changes. The consequence derived from the contribution based on conditional integration (CI) of the PID integral action when set-point and error sign changes, is a drastic reduction in response overshoot to command inputs. Such a contribution is successfully applied to control systems that belong to type 1 and type 2 systems, among which, are ship steering control and aircraft vehicles control.