Function File: C = pid (Kp)

Function File: C = pid (Kp, Ki)

Function File: C = pid (Kp, Ki, Kd)

Function File: C = pid (Kp, Ki, Kd, Tf)

Function File: C = pid (Kp, Ki, Kd, Tf, Ts)

Return the transfer function C of the PID controller in parallel form with first-order roll-off. With a valid Ts a discrete-time system is created.

              Ki      Kd s
 C(s) = Kp + ---- + --------
              s     Tf s + 1