Learn and practice on “PID without a PhD” by Tim Wescott[3]
Math
time domain
u ( t ) = K p [ e ( t ) + 1 T i ∫ e ( t ) d t + T d ∗ d e ( t ) d t ] u(t) = K_p[e(t)+\frac{1}{T_i}\int e(t)dt + T_d * d\frac{e(t)}{dt}] u(t)=Kp[e(t)+Ti1∫e(t)dt+Td∗ddte(t)]
transfer function
G ( s ) = K p ( 1 + T s / T i s + T d T s ∗ s ) G(s) = K_p (1 + \frac{T_s/T_i}{s} + \frac{T_d}{T_s} * s) G(s)=Kp(1+sTs/Ti
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