PID Control Law
The controller output u(t) = Kp*e(t) + Ki*integral(e) + Kd*de/dt sums three responses to the error signal: present, accumulated past, and predicted future. Parallel and standard (Kc, Ti, Td) forms are algebraically equivalent but their gains are not interchangeable.
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The controller output u(t) = Kp*e(t) + Ki*integral(e) + Kd*de/dt sums three responses to the error signal: present, accumulated past, and predicted future. Parallel and standard (Kc, Ti, Td) forms are algebraically equivalent but their gains are not interchangeable.
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