Tools

Discrete PID

Theory:Sample time, discretisation and jitter

Kc

IntegralTi

s

DerivativeTd

s

Derivative filter

N

Sample time Ts

s

Discretisation

Equations

C(z) = Kp + Ki·IF(z) + Kd / (Tf + DF(z))Backward Euler: IF = DF = Ts·z/(z − 1)Tustin: IF = DF = (Ts/2)·(z + 1)/(z − 1)

Textbook forms. PLC function blocks differ — check the block documentation before entering values.

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