Burkert Type 8693 - Manual (Page 239)

239
General Rules (Appendix)
57.5.2. function of the real pid controller
(10)
t d
d X d
v T t d d X
n T
1
d X ( p K Y
t d
Y d
T ∫ + + = + ⋅
Superposition.of.P,.I.and.DT.portions
X
Xd
Y
t
t
Tn
Kp⋅Xd
Xd
T
Kp
Figure 138: Characteristic of step response of the real PID controller
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Type 8692,8693