344 Rockwell Automation Publication 1756-RM006K-EN-P - November 2018
Structured Text
Operand Type Format Description
LDL2 tag LEAD_LAG_SEC_ORDER structure LDL2 structure
See Structured Text Syntax for more information on the syntax of expressions
within structured text.
Description
The LDL2 instruction filter is used in reference forcing and feedback forcing
control methodologies. The LDL2 instruction is designed to execute in a task
where the scan rate remains constant.
The LDL2 instruction uses these equations:
When: The instruction uses this Laplace transfer function:
Order = 1
Order = 2
with these parameter limits (where DeltaT is in seconds):
Parameter Limitations
WLead first order
LowLimit
WLead second order
LowLimit
HighLimit
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