Siemens SIMATIC S7-1200 Function Manual page 342

Instructions
9.2 PID_3Step
PID algorithm
PID_3Step is a PIDT1 controller with anti-windup and weighting of the proportional and
derivative actions. The following equation is used to calculate the output value.
Symbol
y
K
p
s
b
w
x
T
I
a
T
D
c
342
Description
Output value
Proportional gain
Laplace operator
Proportional action weighting
Setpoint
Process value
Integral action time
Derivative delay coefficient (T1 = a × T
Derivative action time
Derivative action weighting
)
D
Function Manual, 03/2017, A5E35300227-AC
PID control