Galil DMC-13X8 Equivalent Filter Form

Chapter 10 Theory of Operation • 170 USER MANUAL
Equivalent Filter Form
DMC-13X8
Digital D(z) =[K(z-A/z) + Cz/(z-1)]∗ (1-B)/(Z-B)
Digital D(z) = [4 KP + 4 KD(1-z-1) + KI/2(1-z-1)] ∗(1-B)/(Z-B)
KP, KD, KI, PL K = (KP + KD) 4
A = KD/(KP+KD)
C = KI/2
B = PL
Continuous G(s) = (P + Ds + I/s) ∗ a/s+a
PID, T P = 4 KP
D = 4 T*KD
I = KI/2T
a = 1/T ln(1/PL)