Description Usage Arguments Details Value Examples
pid
Parallel form of the model of a PID controller
1 | pid(p, i, d)
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p |
Proportional gain. A real and finite value. |
i |
Integral gain. A real and finite value. set this to zero for PD and P-control |
d |
Derivative gain. A real and finite value. set this to zero for PI and P-control |
pid
creates the transfer function model for a PID, PI, PD, and P-controller.
Returns a transfer function model for the PID, PI, PD or P-controller.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | C <- pid(350,300,50) # PID-control
P <- TF(" 1/(s^2 + 10* s + 20)")
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))
C <- pid(300,0,0) # P-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))
C <- pid(30,70,0) # PI-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))
C <- pid(300,0,10) # PD-control
T <- feedback(TF("C*P"), 1)
stepplot(T, seq(0,2,0.01))
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