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controller gain
set-point u 0
error
integral time
constant
e
K p
Industrial Automation
PI (Proportional-Integral) Controller
1
T i
process value y 0
PI
dt
t
∫
t 0
command
variable
1
m = K p ( e(
t)
+ e(
τ ) dτ
)
T
1
s
i
m
plant
measurement
The integral factor Ki produces a non-zero control variable even when the error is zero.
27/40 2.2 Continuous plants and regulation