Autotuning algorithm on a real PID controller

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sultanov_jr

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Hi, i have а task to make autotuning algorithm on a real PID controller with law:
CO=P.(SP-PVn)+I.(PVn-1 - PVn) + d(2.PVn-1 - PVn-2 - PVn).

P=Kp
I=Ki
d=Kd

Can you help me?[/list]
 

autotuning PID

Heater can use PID ?
 

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