Chapter 20 Proportional Integral Derivative (PID) instruction
576 Rockwell Automation Publication 2080-RM001D-EN-E - February 2015
Using a Structured Timing Interrupt (STI) with auto-tuning
Although a PID instruction works if it is not controlled by a Structured Timing
Interrupt (STI), using an STI increases the auto-tune success rate because the
auto-tune will operate on a fixed cycle.
Example: IPIDController with auto-tune
The following example program is shows the variables used to configure the
parameters for auto-tuning.
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