Initial-value compensation of a proportional-integral-derivative controller for non-overshooting motion

Yu Sheng Lu*, Yueh Tsang Li, Sheng Hao Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This article presents a proportional-integral-derivative controller design for monotonic, non-overshooting output responses of a class of second-order plants that do not need to be initially at rest. The proposed scheme is applicable to twice-differentiable reference commands, and monotonic, non-overshooting responses are achieved by compensating for the initial value of integral state. That is, the integral state is initially set to a certain value so that the subsequent response has no overshoot. In the proposed scheme, the initial value that should be assigned to the integral feedback is found to be a nonlinear function of the plant's initial state. This result differs from those in previous schemes that constrain the controller's initial state to be a linear function of the plant's initial state. The proposed scheme is practically applied to layer-jump control and single-track jump control of an optical disk drive. Experimental results confirm the effectiveness of the proposed scheme and its applicability to mode-switching control systems.

Original languageEnglish
Pages (from-to)626-637
Number of pages12
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number8
Publication statusPublished - 2017 Sept 1


  • Control systems
  • disk drives
  • initial-value compensation
  • non-overshooting motion
  • proportional-integral-derivative control
  • zero overshoot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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