# The PID method

The PID method corresponding to a conventional PID controller is programmed according to the routine CPID shown below. You can use a copy of this routine to write your own calculation routine CUSER if you want to test a variant of PID.

For the PID method this coefficients are: K, Ti, Td, N and Antiwindup with the format (4(F8.2,1X),F8.2).

* Specific Parameters *         K       Ti       Td        N  AntiWup PS=   -0.23  1245.20     0.00     5.00     0.00

The routine for the reading of these parameters LPID is given below. You can use a copy of this routine to write your own routine LUSER to read parameters for a USER control module (USER1 to USER9).

The goal of the antiwindup is to stop the integration of the error terms between the controlled variable and the corresponding targets, when the actuator is saturated. This is to avoid having too much to catch up when the saturation is finished.