PIDController + Latency - related issues

[plnyyanks]

Originally Posted by Alan Anderson

The built-in PID in LabVIEW is not like most other implementations. It uses the academic form, with a single overall gain and a pair of times for the Integral and Derivative parameters. There is no feedforward provided.

For those curious about how the LV PID constants work, I'll quote a previous post of mine explaining it...

Originally Posted by plnyyanks

If you take a look at the implementation, it explains how the time constants relate to the traditional ones.

Here's the overall function:


The P component (Kc * error):


I [(Kc / Ti)integral(e)]:


D (Kc * Td * d(error)/dt ):




So, if you take a simple version of the formula like below...

Then:
Kp = Kc
Ki = Kc / Ti
Kd = Kc * Td