PID algorithm for incremental compilation process, incremental PID algorithm output for UnΔ = Kp [(en-en-1)+ (T/Ti) en+ (Td/T) (en-2* en-12B ! en-2)] where, en, en-1, en-2, respectively, for the first n times, n-1 and n-2 times the value of the deviation, Kp, Ti, Td, respectively, the proportional coefficient, integral coefficient and differential coefficient, T is sampling period.

PID.doc

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