Allen-Bradley Micro800 General Instructions Manual page 561

Programmable controllers

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Table of Contents

IPIDController function block description

The IPIDController function block uses the following function block

A: Acting (+/- 1)

PG: Proportional Gain

DG: Derivative Gain

Preventing integral windup

If the difference between the setpoint value and the process value is great, the

output value will increase significantly, and during the time it takes to decrease,

the process will not be in control. The IPIDController function block

interactively tracks feedback and prevents integral windup. When the output is

saturated, the integral term in the controller is recomputed so that its new value

provides an output at the saturation limit.

Rockwell Automation Publication 2080-RM001D-EN-E - February 2015

Proportional Integral Derivative (PID) instruction