Discrete PID
Description
Discrete Proportional-Integral-Derivative (PID) Controller defined as:
Kp + \frac{Ki\cdot T}{z - 1} + Kd\cdot (\frac{1-z^{-1}}{T})
Regarding the derivative low-pass filter, the saturation and the antiwind-up method: read the documentation of the continuous PID for more information.
Library
Control > Discrete
Pins
| Name | Description |
|---|---|
| In | Input |
| Out | Output |
Parameters
| Name | Description |
|---|---|
| Kp | Proportional gain |
| Kd | Derivative gain |
| Kf | Derivative low-pass filter gain |
| Ki | Integral gain |
| Iinit | Initial integral contribution |
| Umin | Minimal saturation |
| Umax | Maximal saturation |
| IntegrationMethod | Integration method |
| Kb | Antiwindup correction factor |
| 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. |