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  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2012-08-30 14:42:38 UTC
  • mfrom: (1.4.7)
  • Revision ID: package-import@ubuntu.com-20120830144238-c1y2og7dbm7m9nig
Tags: 5.4.0-beta-3-1~exp1
* New upstream release
* Update the scirenderer dep
* Get ride of libjhdf5-java dependency

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modules/xcos/help/en_US/palettes/Continuous_pal/PID.xml
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 * See the file ./license.txt
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 -->
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<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:ns5="http://www.w3.org/1999/xhtml" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" version="5.0-subset Scilab" xml:id="PID">
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  <refnamediv>
26
 
    <refname>PID</refname>
27
 
    <refpurpose>PID regulator</refpurpose>
28
 
  </refnamediv>
29
 
  <refsection>
30
 
    <title>Block Screenshot</title>
31
 
    <para>
32
 
      <inlinemediaobject>
33
 
        <imageobject>
34
 
          <imagedata align="center" fileref="../../../../images/palettes/PID.png" valign="middle"/>
35
 
        </imageobject>
36
 
      </inlinemediaobject>
37
 
    </para>
38
 
  </refsection>
39
 
  <refsection id="Contents_PID">
40
 
    <title>Contents</title>
41
 
    <itemizedlist>
42
 
      <listitem>
43
 
        <para>
44
 
          <link linkend="PID">PID regulator</link>
45
 
        </para>
46
 
      </listitem>
47
 
      <listitem>
48
 
        <itemizedlist>
49
 
          <listitem>
50
 
            <para>
51
 
              <xref linkend="Palette_PID">Palette</xref>
52
 
            </para>
53
 
          </listitem>
54
 
          <listitem>
55
 
            <para>
56
 
              <xref linkend="Description_PID">Description</xref>
57
 
            </para>
58
 
          </listitem>
59
 
          <listitem>
60
 
            <para>
61
 
              <xref linkend="Dialogbox_PID">Dialog box</xref>
62
 
            </para>
63
 
          </listitem>
64
 
          <listitem>
65
 
            <para>
66
 
              <xref linkend="Defaultproperties_PID">Default
67
 
                properties
68
 
              </xref>
69
 
            </para>
70
 
          </listitem>
71
 
          <listitem>
72
 
            <para>
73
 
              <xref linkend="Interfacingfunction_PID">Interfacing function</xref>
74
 
            </para>
75
 
          </listitem>
76
 
          <listitem>
77
 
            <para>
78
 
              <xref linkend="CompiledSuperBlockcontent_PID">Compiled Super Block content</xref>
79
 
            </para>
80
 
          </listitem>
81
 
          <listitem>
82
 
            <para>
83
 
              <xref linkend="Example_PID">Examples</xref>
84
 
            </para>
85
 
          </listitem>
86
 
        </itemizedlist>
87
 
      </listitem>
88
 
    </itemizedlist>
89
 
  </refsection>
90
 
  <refsection id="Palette_PID">
91
 
    <title>Palette</title>
92
 
    <itemizedlist>
93
 
      <listitem>
94
 
        <para>
95
 
          <link linkend="Continuous_pal">Continuous time systems
96
 
            palette
97
 
          </link>
98
 
        </para>
99
 
      </listitem>
100
 
    </itemizedlist>
101
 
  </refsection>
102
 
  <refsection id="Description_PID">
103
 
    <title>Description</title>
104
 
    <para>This block implements a PID (Proportional-Integral-Differential)
105
 
      controller. It calculates an "error" value Ue as the difference between a
106
 
      measured process variable Upr and a desired setpoint Ur.
107
 
    </para>
108
 
    <para>
109
 
      <inlinemediaobject>
110
 
        <imageobject>
111
 
          <imagedata align="center" fileref="../../../examples/pid_error.gif" valign="middle"/>
112
 
        </imageobject>
113
 
      </inlinemediaobject>
114
 
    </para>
115
 
    <para>The purpose is to make the process variable Up follow the setpoint
116
 
      value Ur. The PID controller is widely used in feedback control of
117
 
      industrial processes.
118
 
    </para>
119
 
    <para>The PID controller calculation (algorithm) involves three separate
120
 
      parameters; the Proportional Kp, the Integral Ki and Derivative Kd values.
121
 
      These terms describe three basic mathematical functions applied to the
122
 
      error signal Ue. Kp determines the reaction to the current error, Ki
123
 
      determines the reaction based on the sum of recent errors and Kd
124
 
      determines the reaction to the rate at which the error has been
125
 
      changing.
126
 
    </para>
127
 
    <para>The weighted sum of these three actions is used to adjust the
128
 
      process via a control element such as the position of a control valve or
129
 
      the power supply of a heating element. The basic structure of conventional
130
 
      feedback control systems is shown below:
131
 
    </para>
132
 
    <para>
133
 
      <inlinemediaobject>
134
 
        <imageobject>
135
 
          <imagedata align="center" fileref="../../../examples/pid_structure.png" valign="middle"/>
136
 
        </imageobject>
137
 
      </inlinemediaobject>
138
 
    </para>
139
 
    <para>PID law is a linear combinaison of an input variable Up(t), its time
140
 
      integral Ui(t) and its first derivative Ud(t). The control law Ucon(t) has
141
 
      the form:
142
 
    </para>
143
 
    <para>
144
 
      <inlinemediaobject>
145
 
        <imageobject>
146
 
          <imagedata align="center" fileref="../../../examples/pid_law.gif" valign="middle"/>
147
 
        </imageobject>
148
 
      </inlinemediaobject>
149
 
    </para>
150
 
  </refsection>
151
 
  <refsection id="Dialogbox_PID">
152
 
    <title>Dialog box</title>
153
 
    <para>
154
 
      <inlinemediaobject>
155
 
        <imageobject>
156
 
          <imagedata align="center" fileref="../../../../images/gui/PID_gui.gif" valign="middle"/>
157
 
        </imageobject>
158
 
      </inlinemediaobject>
159
 
    </para>
160
 
    <para/>
161
 
    <itemizedlist>
162
 
      <listitem>
163
 
        <para>
164
 
          <emphasis role="bold">Proportional</emphasis>
165
 
        </para>
166
 
        <para>The value of the gain that multiply the error.</para>
167
 
        <para>Properties : Type 'vec' of size -1.</para>
168
 
      </listitem>
169
 
      <listitem>
170
 
        <para>
171
 
          <emphasis role="bold">Integral</emphasis>
172
 
        </para>
173
 
        <para>The value of the integral time of the error.(1/Integral)</para>
174
 
        <para>Properties : Type 'vec' of size -1.</para>
175
 
      </listitem>
176
 
      <listitem>
177
 
        <para>
178
 
          <emphasis role="bold">Derivation</emphasis>
179
 
        </para>
180
 
        <para>The value of the derivative time of the error.</para>
181
 
        <para>Properties : Type 'vec' of size -1.</para>
182
 
      </listitem>
183
 
    </itemizedlist>
184
 
  </refsection>
185
 
  <refsection id="Defaultproperties_PID">
186
 
    <title>Default properties</title>
187
 
    <itemizedlist>
188
 
      <listitem>
189
 
        <para>
190
 
          <emphasis role="bold">always active:</emphasis> no
191
 
        </para>
192
 
      </listitem>
193
 
      <listitem>
194
 
        <para>
195
 
          <emphasis role="bold">direct-feedthrough:</emphasis> no
196
 
        </para>
197
 
      </listitem>
198
 
      <listitem>
199
 
        <para>
200
 
          <emphasis role="bold">zero-crossing:</emphasis> no
201
 
        </para>
202
 
      </listitem>
203
 
      <listitem>
204
 
        <para>
205
 
          <emphasis role="bold">mode:</emphasis> no
206
 
        </para>
207
 
      </listitem>
208
 
      <listitem>
209
 
        <para>
210
 
          <emphasis role="bold">regular inputs:</emphasis>
211
 
        </para>
212
 
        <para>
213
 
          <emphasis role="bold">- port 1 : size [-1,-2] / type
214
 
            1
215
 
          </emphasis>
216
 
        </para>
217
 
      </listitem>
218
 
      <listitem>
219
 
        <para>
220
 
          <emphasis role="bold">regular outputs:</emphasis>
221
 
        </para>
222
 
        <para>
223
 
          <emphasis role="bold">- port 1 : size [-1,-2] / type
224
 
            1
225
 
          </emphasis>
226
 
        </para>
227
 
      </listitem>
228
 
      <listitem>
229
 
        <para>
230
 
          <emphasis role="bold">number/sizes of activation
231
 
            inputs:
232
 
          </emphasis>
233
 
          0
234
 
        </para>
235
 
      </listitem>
236
 
      <listitem>
237
 
        <para>
238
 
          <emphasis role="bold">number/sizes of activation
239
 
            outputs:
240
 
          </emphasis>
241
 
          0
242
 
        </para>
243
 
      </listitem>
244
 
      <listitem>
245
 
        <para>
246
 
          <emphasis role="bold">continuous-time state:</emphasis>
247
 
          no
248
 
        </para>
249
 
      </listitem>
250
 
      <listitem>
251
 
        <para>
252
 
          <emphasis role="bold">discrete-time state:</emphasis> no
253
 
        </para>
254
 
      </listitem>
255
 
      <listitem>
256
 
        <para>
257
 
          <emphasis role="bold">object discrete-time state:</emphasis>
258
 
          no
259
 
        </para>
260
 
      </listitem>
261
 
      <listitem>
262
 
        <para>
263
 
          <emphasis role="bold">name of computational function:</emphasis>
264
 
          <emphasis role="italic">csuper</emphasis>
265
 
        </para>
266
 
      </listitem>
267
 
    </itemizedlist>
268
 
  </refsection>
269
 
  <refsection id="Interfacingfunction_PID">
270
 
    <title>Interfacing function</title>
271
 
    <itemizedlist>
272
 
      <listitem>
273
 
        <para>SCI/modules/scicos_blocks/macros/Linear/PID.sci</para>
274
 
      </listitem>
275
 
    </itemizedlist>
276
 
  </refsection>
277
 
  <refsection id="CompiledSuperBlockcontent_PID">
278
 
    <title>Compiled Super Block content</title>
279
 
    <para>
280
 
      <inlinemediaobject>
281
 
        <imageobject>
282
 
          <imagedata align="center" fileref="../../../images/PID_img3_eng.gif" valign="middle"/>
283
 
        </imageobject>
284
 
      </inlinemediaobject>
285
 
    </para>
286
 
  </refsection>
287
 
  <refsection id="Example_PID">
288
 
    <title>Example 1</title>
289
 
    <para>This example illustrates the usage of PID regulator. It enables you
290
 
      to fit the output signal Upr(t) to the required signal Ur(t)
291
 
      easily.
292
 
    </para>
293
 
    <para>In this example the control system is a second-order unity-gain
294
 
      low-pass filter with damping ratio ξ=0.5 and cutoff frequency fc= 100 Hz.
295
 
      Its transfer function H(s) is:
296
 
    </para>
297
 
    <para>
298
 
      <inlinemediaobject>
299
 
        <imageobject>
300
 
          <imagedata align="center" fileref="../../../examples/pid_filter.gif" valign="middle"/>
301
 
        </imageobject>
302
 
      </inlinemediaobject>
303
 
    </para>
304
 
    <para>To model this filter we use Continuous transfer function block (CLR)
305
 
      from Continuous time systems Palette.
306
 
    </para>
307
 
    <para>The PID parameters Kp, Ki and Kd are set to 100, 0.1 and 0.</para>
308
 
    <para>
309
 
      <inlinemediaobject>
310
 
        <imageobject>
311
 
          <imagedata align="center" fileref="../../../examples/pid_filter_parameters.png" valign="middle"/>
312
 
        </imageobject>
313
 
      </inlinemediaobject>
314
 
    </para>
315
 
    <para>The scope displays the waveforms of system error Ue (black),
316
 
      reference signal Ur (blue) and process signal Upr(red). It shows how
317
 
      initially the process signal Upr(t) does not follow the reference signal
318
 
      Ur(t).
319
 
    </para>
320
 
    <para>
321
 
      <inlinemediaobject>
322
 
        <imageobject>
323
 
          <imagedata align="center" fileref="../../../examples/pid_example.png" valign="middle"/>
324
 
        </imageobject>
325
 
      </inlinemediaobject>
326
 
    </para>
327
 
  </refsection>
328
 
  <refsection id="Example_PID">
329
 
    <title>Example 2</title>
330
 
    <para>
331
 
      <link type="scilab" linkend="scilab.xcos/xcos/examples/continuous_pal/PID_Example.xcos">
332
 
        <inlinemediaobject>
333
 
          <imageobject>
334
 
            <imagedata align="center" fileref="../../../../examples/continuous_pal/PID_Example.png" valign="middle"/>
335
 
          </imageobject>
336
 
        </inlinemediaobject>
337
 
      </link>
338
 
    </para>
339
 
  </refsection>
340
 
  <refsection id="Example_2_PID">
341
 
    <title>Example 3</title>
342
 
    <para>
343
 
      <link type="scilab" linkend="scilab.xcos/xcos/examples/continuous_pal/PID2_Example.xcos">
344
 
        <inlinemediaobject>
345
 
          <imageobject>
346
 
            <imagedata align="center" fileref="../../../../examples/continuous_pal/PID2_Example.png" valign="middle"/>
347
 
          </imageobject>
348
 
        </inlinemediaobject>
349
 
      </link>
350
 
    </para>
351
 
  </refsection>
 
25
    <refnamediv>
 
26
        <refname>PID</refname>
 
27
        <refpurpose>PID regulator</refpurpose>
 
28
    </refnamediv>
 
29
    <refsection>
 
30
        <title>Block Screenshot</title>
 
31
        <para>
 
32
            <inlinemediaobject>
 
33
                <imageobject>
 
34
                    <imagedata align="center" fileref="../../../../images/palettes/PID.png" valign="middle"/>
 
35
                </imageobject>
 
36
            </inlinemediaobject>
 
37
        </para>
 
38
    </refsection>
 
39
    <refsection id="Contents_PID">
 
40
        <title>Contents</title>
 
41
        <itemizedlist>
 
42
            <listitem>
 
43
                <para>
 
44
                    <link linkend="PID">PID regulator</link>
 
45
                </para>
 
46
            </listitem>
 
47
            <listitem>
 
48
                <itemizedlist>
 
49
                    <listitem>
 
50
                        <para>
 
51
                            <xref linkend="Palette_PID">Palette</xref>
 
52
                        </para>
 
53
                    </listitem>
 
54
                    <listitem>
 
55
                        <para>
 
56
                            <xref linkend="Description_PID">Description</xref>
 
57
                        </para>
 
58
                    </listitem>
 
59
                    <listitem>
 
60
                        <para>
 
61
                            <xref linkend="Dialogbox_PID">Dialog box</xref>
 
62
                        </para>
 
63
                    </listitem>
 
64
                    <listitem>
 
65
                        <para>
 
66
                            <xref linkend="Defaultproperties_PID">Default
 
67
                                properties
 
68
                            </xref>
 
69
                        </para>
 
70
                    </listitem>
 
71
                    <listitem>
 
72
                        <para>
 
73
                            <xref linkend="Interfacingfunction_PID">Interfacing function</xref>
 
74
                        </para>
 
75
                    </listitem>
 
76
                    <listitem>
 
77
                        <para>
 
78
                            <xref linkend="CompiledSuperBlockcontent_PID">Compiled Super Block content</xref>
 
79
                        </para>
 
80
                    </listitem>
 
81
                    <listitem>
 
82
                        <para>
 
83
                            <xref linkend="Example_PID">Examples</xref>
 
84
                        </para>
 
85
                    </listitem>
 
86
                </itemizedlist>
 
87
            </listitem>
 
88
        </itemizedlist>
 
89
    </refsection>
 
90
    <refsection id="Palette_PID">
 
91
        <title>Palette</title>
 
92
        <itemizedlist>
 
93
            <listitem>
 
94
                <para>
 
95
                    <link linkend="Continuous_pal">Continuous time systems
 
96
                        palette
 
97
                    </link>
 
98
                </para>
 
99
            </listitem>
 
100
        </itemizedlist>
 
101
    </refsection>
 
102
    <refsection id="Description_PID">
 
103
        <title>Description</title>
 
104
        <para>This block implements a PID (Proportional-Integral-Differential)
 
105
            controller. It calculates an "error" value Ue as the difference between a
 
106
            measured process variable Upr and a desired setpoint Ur.
 
107
        </para>
 
108
        <para>
 
109
            <inlinemediaobject>
 
110
                <imageobject>
 
111
                    <imagedata align="center" fileref="../../../examples/pid_error.gif" valign="middle"/>
 
112
                </imageobject>
 
113
            </inlinemediaobject>
 
114
        </para>
 
115
        <para>The purpose is to make the process variable Up follow the setpoint
 
116
            value Ur. The PID controller is widely used in feedback control of
 
117
            industrial processes.
 
118
        </para>
 
119
        <para>The PID controller calculation (algorithm) involves three separate
 
120
            parameters; the Proportional Kp, the Integral Ki and Derivative Kd values.
 
121
            These terms describe three basic mathematical functions applied to the
 
122
            error signal Ue. Kp determines the reaction to the current error, Ki
 
123
            determines the reaction based on the sum of recent errors and Kd
 
124
            determines the reaction to the rate at which the error has been
 
125
            changing.
 
126
        </para>
 
127
        <para>The weighted sum of these three actions is used to adjust the
 
128
            process via a control element such as the position of a control valve or
 
129
            the power supply of a heating element. The basic structure of conventional
 
130
            feedback control systems is shown below:
 
131
        </para>
 
132
        <para>
 
133
            <inlinemediaobject>
 
134
                <imageobject>
 
135
                    <imagedata align="center" fileref="../../../examples/pid_structure.png" valign="middle"/>
 
136
                </imageobject>
 
137
            </inlinemediaobject>
 
138
        </para>
 
139
        <para>PID law is a linear combinaison of an input variable Up(t), its time
 
140
            integral Ui(t) and its first derivative Ud(t). The control law Ucon(t) has
 
141
            the form:
 
142
        </para>
 
143
        <para>
 
144
            <inlinemediaobject>
 
145
                <imageobject>
 
146
                    <imagedata align="center" fileref="../../../examples/pid_law.gif" valign="middle"/>
 
147
                </imageobject>
 
148
            </inlinemediaobject>
 
149
        </para>
 
150
    </refsection>
 
151
    <refsection id="Dialogbox_PID">
 
152
        <title>Dialog box</title>
 
153
        <para>
 
154
            <inlinemediaobject>
 
155
                <imageobject>
 
156
                    <imagedata align="center" fileref="../../../../images/gui/PID_gui.gif" valign="middle"/>
 
157
                </imageobject>
 
158
            </inlinemediaobject>
 
159
        </para>
 
160
        <para/>
 
161
        <itemizedlist>
 
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            <listitem>
 
163
                <para>
 
164
                    <emphasis role="bold">Proportional</emphasis>
 
165
                </para>
 
166
                <para>The value of the gain that multiply the error.</para>
 
167
                <para>Properties : Type 'vec' of size -1.</para>
 
168
            </listitem>
 
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            <listitem>
 
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                <para>
 
171
                    <emphasis role="bold">Integral</emphasis>
 
172
                </para>
 
173
                <para>The value of the integral time of the error.(1/Integral)</para>
 
174
                <para>Properties : Type 'vec' of size -1.</para>
 
175
            </listitem>
 
176
            <listitem>
 
177
                <para>
 
178
                    <emphasis role="bold">Derivation</emphasis>
 
179
                </para>
 
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                <para>The value of the derivative time of the error.</para>
 
181
                <para>Properties : Type 'vec' of size -1.</para>
 
182
            </listitem>
 
183
        </itemizedlist>
 
184
    </refsection>
 
185
    <refsection id="Defaultproperties_PID">
 
186
        <title>Default properties</title>
 
187
        <itemizedlist>
 
188
            <listitem>
 
189
                <para>
 
190
                    <emphasis role="bold">always active:</emphasis> no
 
191
                </para>
 
192
            </listitem>
 
193
            <listitem>
 
194
                <para>
 
195
                    <emphasis role="bold">direct-feedthrough:</emphasis> no
 
196
                </para>
 
197
            </listitem>
 
198
            <listitem>
 
199
                <para>
 
200
                    <emphasis role="bold">zero-crossing:</emphasis> no
 
201
                </para>
 
202
            </listitem>
 
203
            <listitem>
 
204
                <para>
 
205
                    <emphasis role="bold">mode:</emphasis> no
 
206
                </para>
 
207
            </listitem>
 
208
            <listitem>
 
209
                <para>
 
210
                    <emphasis role="bold">regular inputs:</emphasis>
 
211
                </para>
 
212
                <para>
 
213
                    <emphasis role="bold">- port 1 : size [-1,-2] / type
 
214
                        1
 
215
                    </emphasis>
 
216
                </para>
 
217
            </listitem>
 
218
            <listitem>
 
219
                <para>
 
220
                    <emphasis role="bold">regular outputs:</emphasis>
 
221
                </para>
 
222
                <para>
 
223
                    <emphasis role="bold">- port 1 : size [-1,-2] / type
 
224
                        1
 
225
                    </emphasis>
 
226
                </para>
 
227
            </listitem>
 
228
            <listitem>
 
229
                <para>
 
230
                    <emphasis role="bold">number/sizes of activation
 
231
                        inputs:
 
232
                    </emphasis>
 
233
                    0
 
234
                </para>
 
235
            </listitem>
 
236
            <listitem>
 
237
                <para>
 
238
                    <emphasis role="bold">number/sizes of activation
 
239
                        outputs:
 
240
                    </emphasis>
 
241
                    0
 
242
                </para>
 
243
            </listitem>
 
244
            <listitem>
 
245
                <para>
 
246
                    <emphasis role="bold">continuous-time state:</emphasis>
 
247
                    no
 
248
                </para>
 
249
            </listitem>
 
250
            <listitem>
 
251
                <para>
 
252
                    <emphasis role="bold">discrete-time state:</emphasis> no
 
253
                </para>
 
254
            </listitem>
 
255
            <listitem>
 
256
                <para>
 
257
                    <emphasis role="bold">object discrete-time state:</emphasis>
 
258
                    no
 
259
                </para>
 
260
            </listitem>
 
261
            <listitem>
 
262
                <para>
 
263
                    <emphasis role="bold">name of computational function:</emphasis>
 
264
                    <emphasis role="italic">csuper</emphasis>
 
265
                </para>
 
266
            </listitem>
 
267
        </itemizedlist>
 
268
    </refsection>
 
269
    <refsection id="Interfacingfunction_PID">
 
270
        <title>Interfacing function</title>
 
271
        <itemizedlist>
 
272
            <listitem>
 
273
                <para>SCI/modules/scicos_blocks/macros/Linear/PID.sci</para>
 
274
            </listitem>
 
275
        </itemizedlist>
 
276
    </refsection>
 
277
    <refsection id="CompiledSuperBlockcontent_PID">
 
278
        <title>Compiled Super Block content</title>
 
279
        <para>
 
280
            <inlinemediaobject>
 
281
                <imageobject>
 
282
                    <imagedata align="center" fileref="../../../images/PID_img3_eng.gif" valign="middle"/>
 
283
                </imageobject>
 
284
            </inlinemediaobject>
 
285
        </para>
 
286
    </refsection>
 
287
    <refsection id="Example_PID">
 
288
        <title>Example 1</title>
 
289
        <para>This example illustrates the usage of PID regulator. It enables you
 
290
            to fit the output signal Upr(t) to the required signal Ur(t)
 
291
            easily.
 
292
        </para>
 
293
        <para>In this example the control system is a second-order unity-gain
 
294
            low-pass filter with damping ratio ξ=0.5 and cutoff frequency fc= 100 Hz.
 
295
            Its transfer function H(s) is:
 
296
        </para>
 
297
        <para>
 
298
            <inlinemediaobject>
 
299
                <imageobject>
 
300
                    <imagedata align="center" fileref="../../../examples/pid_filter.gif" valign="middle"/>
 
301
                </imageobject>
 
302
            </inlinemediaobject>
 
303
        </para>
 
304
        <para>To model this filter we use Continuous transfer function block (CLR)
 
305
            from Continuous time systems Palette.
 
306
        </para>
 
307
        <para>The PID parameters Kp, Ki and Kd are set to 100, 0.1 and 0.</para>
 
308
        <para>
 
309
            <inlinemediaobject>
 
310
                <imageobject>
 
311
                    <imagedata align="center" fileref="../../../examples/pid_filter_parameters.png" valign="middle"/>
 
312
                </imageobject>
 
313
            </inlinemediaobject>
 
314
        </para>
 
315
        <para>The scope displays the waveforms of system error Ue (black),
 
316
            reference signal Ur (blue) and process signal Upr(red). It shows how
 
317
            initially the process signal Upr(t) does not follow the reference signal
 
318
            Ur(t).
 
319
        </para>
 
320
        <para>
 
321
            <inlinemediaobject>
 
322
                <imageobject>
 
323
                    <imagedata align="center" fileref="../../../examples/pid_example.png" valign="middle"/>
 
324
                </imageobject>
 
325
            </inlinemediaobject>
 
326
        </para>
 
327
    </refsection>
 
328
    <refsection id="Example_PID">
 
329
        <title>Example 2</title>
 
330
        <para>
 
331
            <link type="scilab" linkend="scilab.xcos/xcos/examples/continuous_pal/PID_Example.xcos">
 
332
                <inlinemediaobject>
 
333
                    <imageobject>
 
334
                        <imagedata align="center" fileref="../../../../examples/continuous_pal/PID_Example.png" valign="middle"/>
 
335
                    </imageobject>
 
336
                </inlinemediaobject>
 
337
            </link>
 
338
        </para>
 
339
    </refsection>
 
340
    <refsection id="Example_2_PID">
 
341
        <title>Example 3</title>
 
342
        <para>
 
343
            <link type="scilab" linkend="scilab.xcos/xcos/examples/continuous_pal/PID2_Example.xcos">
 
344
                <inlinemediaobject>
 
345
                    <imageobject>
 
346
                        <imagedata align="center" fileref="../../../../examples/continuous_pal/PID2_Example.png" valign="middle"/>
 
347
                    </imageobject>
 
348
                </inlinemediaobject>
 
349
            </link>
 
350
        </para>
 
351
    </refsection>
352
352
</refentry>