PID · Lab

v9.5.2.23

Plant P(s) = N(s)/D(s) · e^−sL

Numerator N(s)

Denominator D(s)

Dead time L (s)

Kp

Ki

Kd

Deriv. filter N

Stop time (s)

Step size dt (s)

Setpoint

Rise time (10–90%)

—s

Overshoot

—%

Settling time (2%)

—s

Steady-state value

—

SS error

—

Gain margin (G_m)

—dB

Phase margin (P_m)

—deg

At freq. ω_cg (−180°)

—rad/s

At freq. ω_cp (0 dB)

—rad/s

Stable (closed-loop)

—

Sensitivity peak M_s

—

Comp. sens. peak M_t

—

At ω_Ms / ω_Mt

—rad/s

Min |1 + L(jω)|

—

Encircles (−1, 0)

—

Poles

—

Zeros

—

Stability

—

Legend

CL pole ○ CL zero ••• Kp sweep ••• Ki sweep ••• Kd sweep