A Modified PID control for tracking and rejection of Ramp-type signals

A type one control loop could be employed for tracking of step signal as well as step disturbance rejection only. This paper presented a redesigned control structure for tracking higher-order references and disturbances. Type two control loops are widely recognized for tracking of both the step and ramp inputs. As there are two integrators present in type two controller, there is a great chance of getting overshoot in closed-loop responses. So, a set-point filter is introduced in the scheme. Simulations are carried out with both step and ramp signals to verify the effectiveness of the suggested control structure. Also, a performance comparison on different errors is included.