Biaxial Solar Tracking System Based on the MPPT Approach Integrating ICTs for Photovoltaic Applications

Algorithm 1

Advanced-PID position controller.

Input: ;            //Set position references form the GPS

;                  //Set initial values

while    do

  ;                      //Read encoder values

  ;                 //The position error is calculated

  ;       //The derivative term is calculated

  ;   //Total control term is calculated

  ;

  ;          //Variables are stored

  ;                     //Control effort is applied

end