D
I have got two different PID equation descriptions for Bailey Faction Code FC156 Independent PID:
(1) Kp + Ki/s + Kd*s/(1+Kd*s/Ka)
(2) K(Kp + Ki/(60*s) + 60*Kd*s)
where Kp the proportional gain (no unit), Ki integral reset (per minute), Kd derivative gain (minutes), and K gain multiplier.
Which one is correct? If both are wrong, what is the correct equation then?
(1) Kp + Ki/s + Kd*s/(1+Kd*s/Ka)
(2) K(Kp + Ki/(60*s) + 60*Kd*s)
where Kp the proportional gain (no unit), Ki integral reset (per minute), Kd derivative gain (minutes), and K gain multiplier.
Which one is correct? If both are wrong, what is the correct equation then?