Simulink Control Design™ - MathWorks

where Fi(z) and Fd(z) are the integrator and filter formulas (see Integrator method

and Filter method). The transfer function of a continuous-time parallel-form PIDF

controller is:

C=P+

I

s+

Ds

Ns+1.

Other controller actions amount to setting P, I, or D to zero.

• Ideal — In Ideal form, the transfer function of a discrete-time PIDF controller is:

C=P1+

Fiz

I

+

D

D/N+Fdz

.

The transfer function of a continuous-time ideal-form PIDF controller is:

C=P1+

1

Is

+

Ds

Ds/N+1

.

Other controller actions amount to setting D to zero or setting, I to Inf. (In ideal form,

the controller must have proportional action.)

When you update a PID Controller block or custom PID controller with tuned parameter

values, make sure the controller form matches.

Tunable: Yes

Programmatic Use

Block Parameter: PIDForm

Type: character vector

Values: 'Parallel' | 'Ideal'

Default: 'Parallel'

Time Domain — PID controller time domain

discrete-time (default) | continuous-time

Specify whether your PID controller is a discrete-time or continuous-time controller.

• For discrete time, you must specify the sample time of your PID controller using the
  Controller sample time (sec) parameter.


• For continuous time, you must also specify a sample time for the PID autotuning
  experiment using the Experiment sample time (sec) parameter.

16 Blocks — Alphabetical List