identify
start
optimize
iso research
robustness
smith's predictor
2. START GRAPHIDOR Choose a PID or Smith predictor control law.
The values such noted (static gain, deadtime and time constant) and the constraints (max-min) on the control variable U (given in percentage) are next introduced into the PC on which Graphidor is running.
Enter any values for P, I and D.
The step response is displayed as soon as all the data have been collected.
Small vertical lines on top of the PID response curve indicate the constraints have been reach and the control signal U was clamped.
The error is given in percentage (sum of the absolute difference between the setpoint and the measurement values compared to the total surface).
