pid function

Proportional-Integral-Derivative (PID) Controller

pid Parallel form of the model of a PID controller

pid(p, i, d)

Arguments

• p: Proportional gain. A real and finite value.
• i: Integral gain. A real and finite value. set this to zero for PD and P-control
• d: Derivative gain. A real and finite value. set this to zero for PI and P-control

Returns

Returns a transfer function model for the PID, PI, PD or P-controller.

Details

pid creates the transfer function model for a PID, PI, PD, and P-controller.

Examples

C <- pid(350,300,50) # PID-control
P <- TF(" 1/(s^2 + 10* s + 20)")
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))

C <- pid(300,0,0) # P-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))

C <- pid(30,70,0) # PI-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))

C <- pid(300,0,10) # PD-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))