PROPERTIES.OF.PID.CONTROLLERS................................................................................................................................ 238

39.1. P-portion. . .............................................................................................................................................................................. 238

39.2. I-portion. . ................................................................................................................................................................................ 239

39.3. D-portion. . .............................................................................................................................................................................. 240

39.4. Superposition.of.P,.I.and.D.Portions...................................................................................................................... 241

39.5. Implemented.PID.controller. . ...................................................................................................................................... 242

39.5.1

D Portion with delay ........................................................................................................................ 242

39.5.2

Function of the real PID controller ............................................................................................... 242

40.

ADJUSTMENT.RULES.FOR.PID.CONTROLLERS. . ......................................................................................................... 243

40.1. Adjustment.rules.according.to.Ziegler.and.Nichols.(oscillation.method)......................................... 243

40.2. Adjustment.rules.according.to.Chien,.Hrones.and.Reswick..

(actuating.variable.jump.method). . .......................................................................................................................... 245