Galil DMC-13X8 user manual Equivalent Filter Form, Kp, Kd, Ki, Pl, Pid, T

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)

Chapter 10 Theory of Operation • 170 USER MANUAL