Creates a controller based on changing the PID (proportional-integral-derivative) series algorithm as defined as below:
where Kc is the proportional gain,
Ti is the integral time in seconds,
and Td is the derivative time in seconds.
T1 is the HF Rolloff 1 time (in seconds), which defines the time constant of a first order filter in series with the PID algorithm.
T2 is the HF Rolloff 2 time (in seconds), which defines the time constant of a first order filter in series with the PID algorithm.
|Step Response||Displays the output of the system when it is excited by a step input.|
|Autoscale time||Automatically scales the x-axis on the Step Response graph.|
|Stable/Unstable||Indicates whether the resulting closed-loop system with the controller that this step creates is stable.|
|Model Input||Contains the following parameters:|
|Model Output||Contains the following options:|
|Controller Synthesis||Contains the following parameters:|
This step accepts four model inputs: plant, sensor, filter, and initial controller. Each input can be continuous or discrete and can have a unique sampling time. The PID Synthesis step determines the appropriate model representation for synthesis. For example, if all model inputs are continuous, the resulting synthesized PID controller also is continuous. If one or more input models is discrete, the resulting synthesized PID controller is a discrete controller sampled with the smallest sampling time of the discrete inputs.
Internally, all input models are resampled to use the smallest sampling time of the discrete input models before synthesis proceeds. All discretization is performed using the Zero-Order-Hold algorithm. If you want to use a different discretization method, use the Discretize Model step on all models before running the PID Synthesis step.