*PID Controlling*

The main goal of the PID controller is to maintain the constant output level so that there is no difference (error) between the process variable (Pv) and the set point (SP). The valve may control the flow of gas to a heater, the water level of the tank, the temperature of a chiller, the flow through a pipe, the pressure of the pipe, or any other method for process control and shown in Figure 11.

$$
\rho bj = k\_p^\* e\_t^\* dqO + k\_i^\* \int\_0^1 e\_t^\* dqO dt + k\_d^\* \frac{de\_{t'}^\*}{dt} \frac{dqO}{dt} \tag{28}
$$

$$\dim(X) = \dim(ITAE^\*)\tag{29}$$

where, *X* = total controller error, *ITAE\**= absolute integral-time error.

$$ITAE^\* = \int\_0^\infty T|e\_t^\* d p O| dt\tag{30}$$

**Figure 11.** PID controller block diagram.

*e*∗ *<sup>t</sup> dpO* = error signal between a reference voltage and load.

The MPA-based control method is implemented in the proposed work. It is explained in Section 4 and provides a detailed explanation of the PID approach utilized for BLDC motors with electronic commutation. It is the most common strategy for controlling the 3φ AC motor speed and torque by utilizing the current control method. When the BLDC motors are operated at both high and low speeds, at that time there is no precise speed control and ripple in torque. For applications such as washing machines, PID is very important. The VSI switching signals were produced by the motor's "electronic commutation". The Hall effect sensor is attached to the stator and is used to find the rotor position angle. These Hall effect signals are changed into six switching pulses, which are used to control the switches of the voltage source inverter.
