The PID parameters are then chosen according to the table
Controller | Kp | Ti | Td |
---|---|---|---|
P | T/KL | ||
PI | 0.9T/KL | 3L | |
PID | 1.2T/KL | 2L | 0.5L |
Consider a plant with transfer function G(s)=5(s+1)3.
Set the PID controller according to
Controller | Kp | Ti | Td |
---|---|---|---|
P | 0.5Kcr | ||
PI | 0.45Kcr | Pcr/1.2 | |
PID | 0.6Kcr | 0.5Pcr | 0.125Pcr |