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GENERAL RULES (APPENDIX)
1
Ti
I component
Function: Y = ∫ Xd dt
Ti is the integration or floating time. It is the time that expires until the controller output has run through
the entire correcting range.
Characteristic and step response of the I component of a PID controller
Characteristics
A purely I controller completely eliminates the effects of disturbances. It thus has a favourable static
behaviour. Because of its finite correcting speed, it works more slowly than a P controller and tends to
oscillation. It is hence dynamically relatively unfavourable.
Characteristic line
Step response
Control range ∆Xc
Floating time
Correcting
range
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