Example A PI controller has a gain P of 2 and
an integral action rate I, of 0.02 1/s. The value
of vo is 32% (at t = 0). The graph of the error
signal is given below. Determine the value of
the controller output at the following times:
t = (a) 0 s, (b) 10 s, (c) 50 s, (d) 75 s, (e) 100 s.
Error, %
(e)
+10
0
-10
Time, seconds
a) Graph of the error signal, e
Controller output, %
(v)
100
52
50
32
0
20
40
60
80
100
Time, seconds
72
52
32
24
