Siemens Simatic S7-1500 - Page 30

Principles for control
2.6 Control Response at Different Feedback Structures
PID control
30 Function Manual, 03/2017, A5E35300227-AC
Step response of a PD-action controller
①
Control deviation
②
Output value of a continuous controller
③
Output value of a pulse controller
TM_LAG
Delay of the Derivative action