Proportional Integral Derivative (PID) instruction Chapter 20
Rockwell Automation Publication 2080-RM001D-EN-E - February 2015 561
IPIDController function block description
The IPIDController function block uses the following function block
components:
• A: Acting (+/- 1)
• PG: Proportional Gain
• DG: Derivative Gain
• td: ãD
• ti: ãI
Preventing integral windup
If the difference between the setpoint value and the process value is great, the
output value will increase significantly, and during the time it takes to decrease,
the process will not be in control. The IPIDController function block
interactively tracks feedback and prevents integral windup. When the output is
saturated, the integral term in the controller is recomputed so that its new value
provides an output at the saturation limit.
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