ccrause/pid_pas

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pid_pas PID controller model written in Pascal. Derivation of discrete form (1) Parallel form of PID The conventional parallel form of a proportional - integral - derivate controller is: $$OP(t) = Kp.\epsilon (t) + Ki.\int_0^t \epsilon (t) \partial t + Kd.\frac{\partial \epsilon (t)}{\partial t} \tag{1} \label{eq:1}$$ Where $OP(t)$ is the controller output at time $t$, $\epsilon$ is the error between the controller setpoint $SP$ and the process value $PV$: $\epsilon = SP - PV$. This can be solved...