Implementing PID Controller on a hand follower robot using Numerical Methods

Mostafa A. Mostafa; Abdallah A. Mohamed; Ahmed H. Aborehab; Mohamed A. Shabaan; Mohamed K. Mohamed; Mostafa O. Mohamed; Tarek M. Shohdy

arXiv · 2503.02673

Implementing PID Controller on a hand follower robot using Numerical Methods

Mostafa A. Mostafa·Abdallah A. Mohamed·Ahmed H. Aborehab·Mohamed A. Shabaan·Mohamed K. Mohamed·Mostafa O. Mohamed·Tarek M. Shohdy

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Abstract

Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state errors connected to typical PID systems is crucial for achieving stability. To plot the transfer function's responses with various integrator gains for auto tuning, a MATLAB M-file was developed. Auto tuning techniques were then applied to PID systems to eliminate steady state defects. this paper analyzes and tests the improvement of PID controller over the regular P-controller taking a hand follower robot as a system example using methods with simulation and numerical analysis study.

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BibTeX RIS

Mostafa A. Mostafa, Abdallah A. Mohamed, Ahmed H. Aborehab, Mohamed A. Shabaan, Mohamed K. Mohamed, Mostafa O. Mohamed, Tarek M. Shohdy. 2025-03-04. Implementing PID Controller on a hand follower robot using Numerical Methods. https://arxiv.org/abs/2503.02673

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