Mitsubishi MELSEC-Q series Programming Manual page 14

(5) PID algorithm using a velocity type incomplete differential format
Partial differential has the following advantages over the complete differential format.
(a) The differential gain is 1/
(b) The output contains time amplitude, so the system actually responds to the operation edge so the derivative
operation makes the movement valid.
12
and the limit value can be set.
DV
PID
Manipulated
variable
Deviation
Time(t)