A proportional plus integral plus differential (PID) controller (10) contains an algorithm option which allows the selection of a classical interacting type of controller or a non-interacting type of controller. The classical interacting type of controller is characterised by the property that tuning any one of the proportional, integral or derivative terms changes the effective value of the other terms. In contrast, the non-interacting type of controller is characterised by the property that tuning any one of the proportional, integral or derivative terms has no effect on the other terms.
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