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The PD Controller consists of a differentiator with proportional gain.

Gain Kp: The controller gain Kp determines the low frequency gain of the controller.
Gain Kd: The controller gain Kd determines the 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.

Transfer function of the controller:



that equals