From Handbook of PI and PID Controller Tuning Rules, 2nd Edition
a f1, a f2, b f1=Parameters of a filter in series with some PID controllers
a 1, a 2, a 3, b 1, b 2, b 3=Parameters of a third order process model
a 1, a 2, a 3, a 4, a 5, b 1, b 2, b 3, b 4, b 5=Parameters of a fifth order process model
A 1=y 1( ?), A 2=y 2( ?), A 3=y 3( ?), A 4=y 4( ??), A 5=y 5( ?)
A m=Gain margin
A p=Peak output amplitude of limit cycle determined from relay autotuning
b, c=Weighting factors in some PID controller structures
D R=Desired closed loop damping ratio
d(t)=Disturbance variable (time domain)
du/dt=Time derivative of the manipulated variable (time domain)
e(t)=Desired variable, r(t), minus controlled variable, y(t) (time domain)
E(s)=Desired variable, R(s), minus controlled variable, Y(s)
FOLPD model=First Order Lag Plus time Delay model
FOLIPD model=First Order Lag plus Integral Plus time Delay model
F p, F i, F d=Weights on the desired variable for one PID controller structure
G c(s)=PID controller transfer function
G CL(s)=Closed loop transfer function
G CL(j ?)=Desired closed loop frequency response
G cp(s)=Ideal PID controller transfer function
G cs(s)=Series PID controller transfer function
G m(s)=Process model transfer function
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