Simulink Control Design™ - MathWorks

Default: 'PI'

Form — PID controller form

Parallel (default) | Ideal

Specify the controller form. The controller form determines the interpretation of the PID

coefficients P, I, D, and N.

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

C=P+FizI+

D

N+Fdz

,

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

16 Blocks — Alphabetical List