### PID Controller (Ideal)

**Category: **Controllers > PID Control

The PID Controller block implements an ideal proportional,
integral, derivative (PID) compensator for feedback controls with feed forward.
This block assumes an ideal linear plant and does not provide for actuator
saturation. Furthermore, the compensator provides only a simple derivative and
therefore is unable to properly cope with measurement noise.

**Integral Gain:** Indicates the multiplying factor for
the integral component of control.

**Proportional Gain:** Indicates the multiplying factor
for the proportional component of control.

**Derivative Gain:** Indicates the multiplying factor
for the derivative component of control.

**Feed forward Gain**: Indicates the multiplying factor
for the control component that feeds directly from the input to the output of
the PID controller.

#### Example

**Diagram name:
**Ideal PID Controller

**Location: **Examples > eMotor > Brush DC

This example illustrates how easy it is to determine a
rough design for the speed control of a DC motor. The PID is configured as a PD
compensator by choosing 0 integral and feed forward gains. A basic brush DC
motor is used. Proportional and derivative gains are adjusted until adequate
response time and overshoot are achieved. You can proceed from this simple
feasibility model to include a discrete time controller, and sensor feedback
model in simulation, and eventually to hardware in the loop simulation.