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PID

Symbol

Description

Continuous Proportional-Integral-Derivative (PID) Controller defined as:

Kp + \frac{Ki}{s} + Kd\cdot s

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Derivative function: A first-order low-pass filter can be applied to the derivative term to reduce noise and prevent instability. Set Kf > 0 to enable the filter.The equivalent filter time constant is:

Tf = \frac{1}{Kf}

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Output saturation: The parameters Umin and Umax define the lower and upper limits of the controller output. When saturation occurs, an anti-windup mechanism can be applied to the integral term. Three modes are available:

  • "NoAntiWindup": Disables the anti-windup mechanism. The integrator continues to accumulate during saturation, which may cause a delay before the output desaturates.

  • "ConditionalIntegration": Activates a conditional anti-windup method. When the PID output is saturated and the output (u) and the error(e) have the same sign, the integrator is instantly frozen.

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  • "BackCalculation": Activates a feedback correction loop on the integrator. When the PID output saturates, a feedback signal adjusts the integral term to reduce windup. The loop gain Kb defines the speed of this correction.

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Library

Control > Continous

Pins

Name Description
In Input
Out Output

Parameters

Name Description
SamplingTime -none or 0: No sampling. The system will be solved in the Newton loop (default).
-auto: Inherit the sampling time of its source device.
-Sampling Period: defined in seconds.