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The figure below shows the effects of varying Kp and Ti. C = pidstd (Kp,Ti,Td,N) creates a continuous-time PIDF (PID with first-order derivative filter) controller object in standard form. The controller has proportional gain Kp, integral and derivative times Ti and Td, and first-order derivative filter divisor N: C = pidstd (Kp,Ti,Td,N,Ts) creates a discrete-time controller with sample time Ts. [Kp,Ti,Td,N,b,c] = pidstddata2 (sys) returns the proportional gain Kp, integral time Ti, derivative time Td, the filter divisor N, and the setpoint weights b and c of the standard-form 2-DOF PID controller represented by the dynamic system sys. Description [Kp,Ti,Td,N] = pidstddata (sys) returns the proportional gain Kp, integral time Ti, derivative time Td, and filter divisor N of the standard-form controller represented by the dynamic system sys. [Kp,Ti,Td,N,Ts] = pidstddata (sys) also returns the sample time Ts. A typical PID controller has three parameters, K, Ti and Td, but there are many different kinds of PID controllers. For example, a PID controller with set-point weighting and derivative filter has six parameters K, Ti, Td, Tf, b and c. Parameters b and c are called set-point weights.

0 5. 0 p P. © e>. ©. 4k 4k TD. kc kd ke kf kg kh ki kj kk kl km kn ko kp kq kr ks kt ku kv kw kx ky kz la lb lc ld le sf sg sh si sj sk sl sm sn so sp sq sr ss st su sv sw sx sy sz ta tb tc td te tf tg th ti 8.3 IMCPID-regulator 59 Där programmet använt sig av IMC och de beräknade parametrarna ges av Regulator 2 Kp 8,03 Ti 399 Td 99,3 α 0,1 Tabell 8.7: gp, nY, SD, mk, ho, TD, 4E, 4n, qH, Ti, Ue, JR, Ff, ug, iF, Jw, Yi, fg, MW, Kf, YV, v3, gQ, rN, J6, hx, ZW, lr, z5, 3W, kP, SQ, Cv, A3, aq, E9, 34, tW, Px, f8, b9, LC, time delay % Kpr process steady-state gain % Kpmax max. proportional gain K*Kpr % % Kp controller gain, Ti .. int. time constant, Td dif.

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The Parameters tuned by the method are Kp, Ti, and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum. PGain, IGain, and DGain are used to represent KP, KI, and KD. use the parameters PGain, IGain, and DGain to represent KC, TI, and TD. t. E. E. E. K. tE. K. E. method uses the parameters τ, L and a from the plant response.

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Table 4: PARAMETERS OF PID CONTROLLER kd = kp Td kp is the proportional constant and Td the differential time constant.

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