A

I have an idea that it is :

OP = [ K*(60*T1*s+1)/(60*T1*s) ]*error + [(60*T2*s)/(0.1*60*T2*s+1)]*PV

where:

K = proportional gain

T1 = integral time (mins/repeat)

T2 = derivative time (mins)

and that the 0.1*60*T2*s+1 bit in the derivative action is the filter implemented for the derivative action.

However, my reference book seems to indicate a different (and what seems to me incorrect) structure. I am also wondering if the proportional gain should also apply to the derivative part of the above equation as well.

Thanks in advance for any help.

Andy Clegg

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Advanced Control Technology Club, Industrial Systems and Control Ltd.,

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Tel: (+44) 0141 553 1111

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