| 摘要 |
A method for controlling outputs of a PID controller is provided to limit variation of a value of an integral element by applying an error value when a state of the control object is changed from a stable state to a transient state. A PID(Proportional-Integrate-Derivative) controller receives an error value between an instruction value and an output value of a control object, and calculates values of proportional and derivative elements on the received error value(S300). It is determined whether a state of the control object is in a stable or transient state using the calculated value of the proportional element. According to the determination result, a calculated value of an integral element is checked using an error value in the stable state of the control object before the transient state when the state of the control object is in a transient state(S306). By adding the calculated value of the integral element to the checked value of the derivative element and the calculated value of the proportional element, an output value is calculated(S316).
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