Simulink Control Design™ - MathWorks

u=−Py+I

1

s

(r−y)−D

N

1+N

1

s

y.

The following plot shows u for different PID forms for a step reference. The 1DOF PID
controller results in a large spike when the reference changes from 0 to 1. The PI-D form
results in a smaller jump. In contrast, the I-PD form does not react as much to the change
in r.

You can tune the P, I, D, and N coefficients of a PI-D or I-PD controller to achieve the
desired disturbance rejection and reference tracking.

Specify PI-D and I-PD Controllers...................... 7-