In this article we investigate such relationship on a commonly-used PID form.įor the continuous-time PID, we start with the so-called parallel form In practice, we may want to relate a chosen set of parameters in continuous-time, perhaps from simulation or some tuning rule, to its discrete-time representation. In that article, we simplify the matter by omitting the effect of sampling period on the PID parameters. In our previous article Digital PID Controllers, we discussed some basics of PID controller implementation as software algorithm on a computer. Part I: Discrete PID Gains as Functions of Sampling Time This content was kindly contributed by Dew Toochinda, the Scilab Ninja, and originally posted on
