### PID Controller-Ideal

**Category: **Toolbox > eDrives > eMotors (Legacy)
> Controllers > PID Control

**Inputs:**

•
**command:** Indicates the input signal to PID controller.

•
**measurement:** Indicates the controlled variable input measurement
for PID controller.

**Output:**

•
**Output:** Indicates the PID controller output signal.

**Description:** The PID Controller-Ideal block
implements an ideal proportional, integral, derivative (PID) compensator for
feedback controls with feed forward. This block assumes an ideal linear plant
and does not provide for actuator saturation. Furthermore, the compensator
provides only a simple derivative and therefore is unable to properly cope with
measurement noise.

**Derivative Gain:** Indicates the multiplying factor
for the derivative component of control.

**Feed forward Gain**: Indicates the multiplying factor
for the control component that feeds directly from the input to the output of
the PID controller.

**Integral Gain:** Indicates the multiplying factor for
the integral component of control.

**Proportional Gain:** Indicates the multiplying factor
for the proportional component of control.

#### Example

**Diagram name: **Ideal PID Controller

**Location: **Examples > eMotors (Legacy) >
Brush DC

This example illustrates how easy it is to determine a
rough design for the speed control of a DC motor. The PID is configured as a PD
compensator by choosing 0 integral and feed forward gains. A basic brush DC
motor is used. Proportional and derivative gains are adjusted until adequate
response time and overshoot are achieved. You can proceed from this simple
feasibility model to include a discrete time controller, and sensor feedback
model in simulation, and eventually to HIL simulation.