Siemens Simatic S7-1500

Principles for control
2.4 Pulse controller
PID control
24 Function Manual, 03/2017, A5E35300227-AC
The following diagram shows the control function of a two-step controller
①
Response characteristic without controller
②
Response characteristic with two-step controller
T
u
Delay time
T
g
Recovery time
X
Sd
Switching difference