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d
1
and the final value is 1 (obtained by letting s approaching
=
d
0). The way it is approaching the final value is based on a first order behavior
with time constant equal to d . With this lead-lag derivative implementation, it
adds an additional protection as a limiter, namely the ratio of the two time
constants. Thus even in the presence of a step change in set point the controller
response is
Discussion:
1. Why in the experiment does the derivative action dampen the oscillation?
Because it increases the gain margin so that for the same PI setting, it is further
away from instability if derivative action is added.
2. In the presence of measurement noise, it is a trade-off between the detriment of
taking the derivative of a noisy signal (without filtering) and the loss of
performance for not using the derivative mode.