Abstract：The proportional-integral-differential (PID) control algorithm is widely used in electric servo control due to its strong adaptability, convenient tuning, and robust performance. However, traditional PID control algorithms can not resolve the conflict between rapid system response and overshoot, and the derivative component introduces high-frequency elements, which can easily cause severe servo jitter. This paper proposes an improved PID method that introduces a differential forward algorithm through a fast-tracking differentiator in the position feedback loop. Compared with the traditional PID control method in the contrast test, the adoption of the differential forward control algorithm increases the system cutoff frequency, expands the bandwidth, and improves the stability margin by 2 dB.
2026, Vol. 27 
