PID Implementation when simulating

[ruslan]

I know the PID tuner gains come from this paper:

https://folk.ntnu.no/skoge/publications/2003/tuningPID/more/tuningpaper_reno-2001/tuningpaper_06nov01.pdf

At the end of the paper they describe the actual PID implementation they use for the simulated plots.  Notably, the derivative term is not applied to the setpoint and is filtered.

What is the actual PID implementation used for the simulated response in the PID tuner?

[pidtuner]

Hi, the PID algorithm for simulation is similar to this PID implementation:

Improving the Beginner’s PID – Introduction

[ruslan]

Thanks, I’ve seen that implementation.  So you’re using derivative on measurement, no filtering?

[pidtuner]

That is correct, the derivative part is:
PID_D = -(D/Ts) * (yk – ykm1);

Just like in here

Improving the Beginner’s PID – Derivative Kick

[Author]

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