2DOF ISA PID form
In PIDlab Java applets, the following form of PID controller is implemented.
- k - proportional gain
- Ti - integral time constant
- Td - derivative time constant
- N - filter of derivative part
- b - proportional part setpoint weight
- c - derivative part setpoint weight
The feed-forward part allows optimization of time-domain behavior while the robustness is ensured by the feedback part.
The robustness is ensured in frequency domain by several design specifications.
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