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Navigation: Library > Signal > Control > PID Control > Discrete > pid |
  
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Signal\Control\PID Control\Discrete
Domains: Continuous, Discrete Size: 1-D. Kind: Block Diagrams.
This is a PID controller in series form. The transfer function is:
with the input of the controller equal to the error and the output of the controller used as the plant input:
Inputs |
Description |
error |
Input signal: plant-output minus set point. |
Outputs |
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output |
Output signal: input for the plant. |
Parameters |
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kp tauD tauI beta |
Proportional gain. Derivative gain (tauD <> 0). Integral gain (tauD <> 0). Tameness constant (0 < beta << 1). |
Initial Values |
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pdstate(0) |
pdout(0) = pdstate(0) - kp*error(0)*/beta |
pistate(0) |
output(0) = pistate(0) - pdout(0) |