Burkert 8630 Instructions De Service page 159

Function of the real PID controller :
dY
T + Y = Kp (Xd +
dt
Step response of the real PID controller:
Fig. 8.6: Step response of the real PID controller
158
1 dXd
∫ ∫ ∫ ∫ ∫ Xd dt + Tv
)
Tn dt
Operating instructions no. 800607