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Feedback Traction Controller - PID Controller
A Proportional-Integral-Derivative (PID) controller is a feedback controller that computes a vehicle input using the error, the integral of error, and the rate of change of error between a desired vehicle response and the actual vehicle response.

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    - Controllers Library
      Controllers form the core of the driver. The Controller Library has various basic controllers its arsenal to calculate different driver outputs.
      - Open Loop Controllers
        Open-loop controllers define vehicle inputs directly without feedback (for example, steering wheel angle vs. time).
      - Closed Loop Controllers
        Closed-loop controllers use vehicle responses (for example, speed, position, yaw rate, etc.) as feedback to determine the vehicle inputs needed to match a desired vehicle response, such as following a demand lean profile (for two wheelers) or a path.
        Throttle and Brake Controllers
        Feed-forward Traction Controller
        The Feed-forward controller is the predictive controller of the Altair Driver. It predicts some of the states of the vehicle after look ahead time, or look ahead distance, and accordingly drives the throttle and brake signals to match the demand signal (for example, speed).
        Feedback Traction Controller - PID Controller
        A Proportional-Integral-Derivative (PID) controller is a feedback controller that computes a vehicle input using the error, the integral of error, and the rate of change of error between a desired vehicle response and the actual vehicle response.
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Feedback Traction Controller - PID Controller

A Proportional-Integral-Derivative (PID) controller is a feedback controller that computes a vehicle input using the error, the integral of error, and the rate of change of error between a desired vehicle response and the actual vehicle response.

To use a PID control you enter proportional (KP), integral (KI), and derivative (KD) gains, the type of desired response (for example, longitudinal speed or acceleration), and reference the desired response (for example, a table of speed vs time). The Altair Driver then applies the Proportional-Integral-Derivative (PID) control law to calculate the throttle and brake signals.

Algorithm


Parameters
Demand Signal	U
Feedback or response signal	X
Error	e
Proportional gain	Proportional gain
Derivative gain	Derivative gain
Integral gain	Integral gain
Integral control flag	Integral control flag
Integral band	Integral band
Driver throttle output	O _throttle
Driver brake output	O _brake
Drive Ratio
Gear Ratio

Types

VELOCITY CONTROL - Demand signal is a velocity profile with time or distance traveled as independent variable.
ACCELERATION CONTROL - Demand signal is an acceleration profile with time or distance traveled as independent variable.
Demand signal can be constant, expression driver, user defined curve, or MotionView Signal (similar to Open Loop controller).

[LONG_PID_CONTROLLER]
TAG = 'PID'
TYPE = 'FOLLOW_VELOCITY'
DEMAND_SIGNAL = 'DEMAND_SPEED'
I_ACTIVE_BAND = 2
KP 	 			= 100
KD 				= 20
KI 				= 10
INITIAL_ERROR 		= -5


[FEEDFORWARD LONGITUDINAL CONTROLLER]
`TAG`	Attr - string	REQUIRED <PID >
	Attr - string	OPTIONAL By default assumes FOLLOW_VELOCITY. Options: FOLLOW_VELOCITY FOLLOW_ACCELERATION
`DEMAND_SIGNAL`	Attr - string	REQUIRED Block name that contains the demand signal. See the Demand Signal Block topic to learn more about all of the available methods.
`I_ACTIVE_BAND`	Attr - real	OPTIONAL Band in which integral control is activate. If absent: Integral gain is always active. May lead to overcompensation.
`KP`	Attr - real	OPTIONAL Proportional gain If absent: `KP` = 0
`KD`	Attr - real	OPTIONAL Differential gain If absent: `KD` = 0
`KI`	Attr - real	OPTIONAL Integral gain If absent: `KI` = 0
`INITIAL_ERROR`	Attr-real	OPTIONAL Integral error If absent: `INITIAL_ERROR` = 0