Hi,

We are using MC9S12ZVM128 controller and PI control library function in our code for PI control as below,

SpeedPIOut = GFLIB_ControllerPIrAW(Error, (GFLIB_CONTROLLER_PIAW_R_T_F16 *)&SpeedPIPrms, F16);

We referred the document for PI control library, we get to know that there are three options to calculate CC1 and CC2 coefficients as below,

We want to know that,

how to know which option is get selected while using above library function?

What is the significance of these three options?

Please guide us.

Thank you!

Hello,

a control system implemented in a digital computer is a discrete system. When designing a discrete controller, you have two options:

Since there is a vast body of knowledge available on continuous-control design, engineers typically take the option No. 2.

The AMMCLIB function GFLIB_ControllerPIrAW assumes that you have already designed your continuous-time controller and want to implement it in the digital computer. Based on your continuous-time gain values

KpandKi, and the selected sampling periodTs, you can calculate the discrete controller parameters using any of the discretization methods:Once you select the discretization method which best suits your needs, you can use the equations provided in the AMMCLIB User's Guide to calculate the required parameters

f16CC1scandf16CC2scfor your GFLIB_ControllerPIrAW_F16.Refer to any textbook on discrete control theory to learn more about the discretization methods and their properties. You can also find plenty useful resources online, e.g.:

Regards,

Petr