The D Controller can be used to create an almost ideal derivative (when the frequency goes to infinity).
• | Gain Kd: The controller gain Kd determines the frequency gain of the controller at frequency w = 1 [rad/s]. |
• | Frequency fd: The differentiation behavior of the controller stops at frequency fd in Hz. An increase of this frequency corresponds to a more pure differentiation behavior, reducing the tameness of the controller. |