GPS-X Technical Reference

Tools Object 344
PID CONTROL
PID controllers are widely used in industrial applications because of their simplicity and good
performance. PID is an acronym for Proportional, Integral, Derivative, which are the three
modes of the PID controller. In continuous form, the PID controller algorithm is given by:
With derivative kick protection OFF:
Equation 12.10
With derivative kick protection ON:
Equation 12.11
where:
MV
CV
E
K c
TI
T D
I
= manipulated variable
= controlled variable
= error (setpoint-controlled variable)
= proportional gain, a controller tuning constant
= integral time, a controller tuning constant
= derivative time, a controller tuning constant
= initialization constant
GPS-X Technical Reference