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PI compensator implementation in microcontroller and calculation for that

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Ashvinpambhar

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Hi,
I used a microcontroller dsPIC33FJ16GS504 for on grid microinverter. In compensator design circuit (attached) current compensator block I want to implement in microcontroller in which PI compensator is used as per the document (for details are available in microchip document AN1444). I know basic about the PI controller but how to implement in microcontroller and how to calculate the coefficient of that (kp & kI) if all that things is happen by control system then how to derive that equation.
compensator circuit.png
 

Code:
P = Kp*X
I = Ki*X + I
Y = P + I

Where X is the compensator input and Y is the output. This represents a transfer function of Kp+1/(Ki*[sample rate]*S). That laplace function can be plugged into any number of simulators (LTSpice) to graph its bode plot and see the gain and zero placement (it has a pole at the origin).

Generally the zero wants to be placed a little before the system pole.

(I just wrote this quickly and tend to make mistakes doing that but its a helpful starting point).
 
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