The PID-2 Controller consists of an integrator and differentiator with proportional gain. It resembles a serial PID Controller, but has different input parameters.
|•||Gain Kp: The controller gain Kp determines the frequency gain of the controller in the pass band (where integration and differentiation are of no interest).|
|•||Length Li: The length Li determines the frequency at which integration starts, that is fi / Li in Hz. A decrease of this frequency corresponds to a more pure integration behavior.|
|•||Length Ld: The length Ld determines the frequency at which differentiation stops, that is fd * Ld in Hz. An increase of this frequency corresponds to a more pure differentiation behavior, reducing the tameness of the controller.|
|•||Frequency fi: The integration behavior of the controller stops at frequency fi in Hz.|
|•||Frequency fd: The differentiation behavior of the controller starts at frequency fd in Hz.|
Transfer function of the controller: