M. Bauer

E. Sundström, M. Bauer, J. L. Guzmán et al.

How difficult can it be to implement a PID controller? The answer is twofold. Implementing the PID control law is simple and computationally inexpensive. However, this basic form will not work in practical applications. The primary reason for this is the various physical limitations of the actuator. Measurement noise, different implementations depending on the various structures (P, PI, PD or PID), bumpless transfer, and varying sampling time also result in problems rendering the basic form inoperable. PID implementation is therefore more difficult than meets the eye. This paper introduces a reference implementation of the PID controller which considers these practical issues. It includes pseudo-code, discussion of the implementation choices and simulation of carefully selected, important test cases.

M. Bauer, M. Bebendorf

In this article we extend the adaptive cross approximation (ACA) method known for the efficient approximation of discretisations of integral operators to a block-adaptive version. While ACA is usually employed to assemble hierarchical matrix approximations having the same prescribed accuracy on all blocks of the partition, for the solution of linear systems it may be more efficient to adapt the accuracy of each block to the actual error of the solution as some blocks may be more important for the solution error than others. To this end, error estimation techniques known from adaptive mesh refinement are applied to automatically improve the block-wise matrix approximation. This allows to interlace the assembling of the coefficient matrix with the iterative solution.