Burkert 8630 Operating Instructions Manual page 132

Function of the real PID controller :
dY
T + Y = Kp (Xd +
dt
Step response of the real PID controller:
Fig. 8.6: Step response of the real PID controller
132
1 dXd
∫ ∫ ∫ ∫ ∫ Xd dt + Tv
Tn dt
X
Xd
Y
Kp Tv
T
Kp Xd
Tn
)
t
t
Operating instructions no. 800607