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Re: LabVIEW PID uses derivative of Process Variable
Jared and Greg are correct. The modification is actually very common on industrial PIDs to avoid the 'derivative kick' from setpoint changes. In the literature, this is also called PI-D controller or even 2-Degree of Freedom PID. Here is some literature that could be useful in the future:
http://www.cds.caltech.edu/~murray/c...astrom-ch6.pdf 
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