Studio 5000 Programming for the Controllogix and Compactlogix PLC
PID Proportional Integral Derivative

Studio 5000's Velocity Equation vs the Positional Equation

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There are differences between a Velocity form of the PID equation compared to the Positional form of the PID equation.

This affects how the Proportional, Integral, and Derivative terms are used in the PID equation. Rockwell Automation's Studio 5000 PIDE instruction uses the velocity form of the PID equation.