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Function Reference: pid

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
 
 

Source Code: pid