Patent ID: 7979143

Claim:
A Proportional-Integral-Derivative (PID) controller for providing a control value to a control object to be controlled according to the difference between an output value of the control object and a target value, comprising: an error calculator for outputting an error value between the target value and the output value of the control object; a PID operator for calculating a proportional value of the error value, calculating an integral value of the error value by integration, calculating a derivative value of the error value by differentiation, calculating the control value using the proportional value, the integral value, and the derivative value, and outputting the control value to the control object; a first sampler for sampling the output value of the control object with respect to the target value and outputting a sampled output value to the error calculator; and a controller for controlling the PID operator to perform a PID operation a plurality of times and output the control value according to a sampling period of the first sampler, the controller configured to increase a proportional coefficient of the PID operator from a proportional coefficient of a previous PID operation period after a target value change time point and decreases the increased proportional coefficient in a next PID operation period.