Practical Implementation of PIDA Controllers

In this paper we deal with the practical implementation of Proportional-integral-Derivative-Acceleration (PIDA) controllers. In particular, we discuss and analyze the digital realization of such a kind of controllers by taking into account the typical additional functionalities that are essential in practical applications. The specific issues related the use of the second derivative of the control error are addressed. Simulation results show the effectiveness of the different approaches. It is believed that having such a reference implementation will foster the applicability of PIDA controllers in industry.