Discrete-Time PID Implementation
Digital PID replaces the integral with a running sum and the derivative with a finite difference, executed at a fixed sample time h — h should be roughly 1/10 of the dominant time constant or faster, and jitter in h corrupts the derivative term. The incremental (velocity) form computes output deltas, giving bumpless transfer and inherent windup resistance.
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Digital PID replaces the integral with a running sum and the derivative with a finite difference, executed at a fixed sample time h — h should be roughly 1/10 of the dominant time constant or faster, and jitter in h corrupts the derivative term. The incremental (velocity) form computes output deltas, giving bumpless transfer and inherent windup resistance.
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