u(k) u ( k ) = = e(k) e ( k ) + + ∑e(k) ∑ e ( k ) + + [ [ − − ] ]
= = e(k−1) e ( k − 1 ) + + ∑e(k−1) ∑ e ( k − 1 ) + + [ [ − − ] ]
u(k) u ( k ) = = ( e(k)−e(k−1) e ( k ) − e ( k − 1 ) )+ Ki K i e(k) e ( k ) + + [ [ + + − − ]
=( = ( Kp K p + + + + ) ) − − Kp K p + + Kd K d ) ) + Kd K d e(k−2) e ( k − 2 )
A
A
Kp
K
p
+
+
+
+
B
B
Kp
K
p
+
+
Kd
K
d
C
C
Kd
K
d
u(k)
u
(
k
)
=
u(k−1)
u
(
k
−
1
)
+
Δ
Δ
u
u
<script type="math/tex" id="MathJax-Element-14700">u</script>