Abstract
ASIC or FPGA implementation of a finite word-length PID controller requires a double expertise: in control system and hardware design. In this paper, we only focus on the hardware side of the problem. Weshow how to design configurable fixed-point PIDs to satisfy applications requiring minimal power consumption, or high control-rate, or both together. As multiply operation is the engine of PID, we experienced three algorithms: Booth, modified Booth, and a new recursive multi-bit multiplication algorithm. This later enables the construction of finely grained PID structures with bit-level and unit-time precision. Such a feature permits to tailor the PID to the desired performance and power budget. All PIDs are implemented at register-transfer-level (RTL) level as technology-independent reusable IP-cores. They are reconfigurable according to two compile-time constants: set-point word-length and latency. To make PID design easily reproducible, all necessary implementation details are provided and discussed.
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Abdelkrim Kamel OUDJIDA received his B.S. degree in Computer Engineering from the Institut National d-Informatique, INI, Algiers, Algeria, in 1989. He joined the Centre de Developpement des Technologie Avancées, CDTA, Algiers in 1990. Since then, he has been working on the design of high-speed and low-power digital circuits. He is team leader specialized in digital IP design and verification. He is currently preparing a Ph.D. at Franche-Comté University, UFC, Besanñon, France, under the supervision of Prof. Nicolas Chaillet. His current work focuses on optimization of arithmetic algorithms for the development of high-speed and lowpower finite-word-length controllers, dedicated to micromanipulation applications.
Nicolas CHAILLET received his B.S. degree in Electrical Engineering from the Ecole Nationale Supérieure de Physique, Strasbourg, France, in 1990, and the Ph.D. degree in Robotics and Automation from the University Louis Pasteur, Strasbourg, France, in 1993. In 1995 he became associate professor at the University of Franche-Comté in Besanñon, France. Since 2001, he is a professor at the University of Franche-Comté and is since 2012 the Director of the FEMTO-ST Institute. His research interests are in microrobotics and more generally in micromechatronics fields, especially in micromanipulation, microgrippers, smart materials, microactuators, smart microstructures and the design and implementation of their control.
Ahmed LIACHA received his B.S. degree in Electronics from the Université des Sciences et de la Technologie, Houari Boumedi`ene, Algiers, Algeria, in 2002. In 2004 he joined the department of microelectronics at the Centre for Development of Advanced Technologies, CDTA, where he is currently a digital IP designer for industrial control applications.
Mohamed Lamine BERRANDJIA received his B.S. degree in Computer Science Engineering from the University of Mantouri, Constantine, Algeria, in 2003. Since 2005, he is research assistant at Centre de Développement des Technologies avancées, CDTA, Algiers, Algeria, where he specialized in digital IP design and embedded systems for FGPA.
Mustapha HAMERLAIN received the Doctorate degree in 1993 from National Institute of Applied Sciences of Toulouse (France). He is currently the head of the robotics department of the Advanced Technologies and Development Center (CDTA) of Algiers, and professor at the school (EMP). From 1988 to 1993 he was involved in a research project in the field of robotics PAM (Pneumatic Artificial Muscles) as a researcher in the National Institute of Applied Sciences (INSA) of Toulouse. His current research interests include robust control of nonlinear systems, robot motion control, visual control, robots manipulators and pneumatic artificial muscles actuators.
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Oudjida, A.K., Chaillet, N., Liacha, A. et al. Design of high-speed and low-power finite-word-length PID controllers. Control Theory Technol. 12, 68–83 (2014). https://doi.org/10.1007/s11768-014-2131-5
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DOI: https://doi.org/10.1007/s11768-014-2131-5