The PID Controller consists of an integrator and differentiator with proportional gain.
|•||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).|
|•||Gain Ki: The controller gain Ki determines the shape of the frequency response at low frequencies.|
|•||Gain Kd: The controller gain Kp determines the shape of the frequency response at high frequencies.|
|•||Frequency fi: The integration behavior of the controller starts at frequency fi in Hz. A decrease of this frequency corresponds to a more pure integration behavior.|
|•||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: