# Create Gain (PID » Parallel) (G Dataflow)

Returns PID gains of a PID controller in the Parallel form.

## derivative unit

Unit associated with the derivative gain.

This input accepts a ring or an array of rings.

Name Value Description
Hz 0 Specifies that the derivative gain is expressed in Hz.
s 1 Specifies that the derivative gain is expressed in seconds.
min 2 Specifies that the derivative gain is expressed in minutes.

Default: The default value of this input changes depending on the data type you wire. If you wire a ring to this input, the default is s. If you wire an array of rings to this input, the default is Hz.

## integral unit

Unit associated with the integral gain.

This input accepts a ring or an array of rings.

Name Value Description
Hz 0 Specifies that the integral gain is expressed in Hz.
s 1 Specifies that the integral gain is expressed in seconds.
min 2 Specifies that the integral gain is expressed in minutes.

Default: The default value of this input changes depending on the data type you wire. If you wire a ring to this input, the default is s. If you wire an array of rings to this input, the default is Hz.

## proportional unit

Unit associated with the proportional gain.

The relationship between the available units is K = 100/PB.

This input accepts a ring or an array of rings.

Name Value Description
Gain (K) 0 Specifies that the proportional gain is expressed in terms of proportional gain (K).
Band (PB) 1 Specifies that the proportional gain is expressed in terms of proportional band (PB).

Default: Gain (K)

## proportional

Value of the proportional component of the controller.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

## integral

Value of the integral component of the controller.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

## derivative

Value of the derivative component of the controller.

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

## filter coefficient [a]

Derivative lowpass filter coefficient of the controller.

If you specify a value for filter coefficient unit, you must also specify a value for filter coefficient [a]. When filter coefficient unit is Alpha, the valid value range of filter coefficient [a] is [0, 1]. When filter coefficient unit is N, the valid value range of filter coefficient [a] is [1, 1000].

This input accepts a double-precision, floating-point number or an array of double-precision, floating-point numbers.

Default: NaN.

## filter coefficient unit

Unit of the derivative lowpass filter coefficients.

The relationship between the available units are as follows: N = 1/Alpha; Time Constant = 1/(2 * Pi * Cutoff Frequency).

This input accepts a ring or an array of rings.

Name Value Description
Alpha 0 Specifies that the filter coefficients are expressed in Alpha.
N 1 Specifies that the filter coefficients are expressed in N.
Cutoff Frequency 2 Specifies that the filter coefficients are expressed in Hz.
Time Constant 3 Specifies that the filter coefficients are expressed in seconds.

Default: Alpha

## action

Action of the controller.

This input accepts a ring or an array of rings.

Name Value Description
Reverse 0 The controller is reverse-acting.
Direct 1 The controller is direct-acting.

Default: Reverse

## PID gains

Proportional gain, integral gain, derivative gain, and filter coefficient parameters of the controller.

This output can return a cluster or an array of clusters.

### proportional

Proportional gain of the controller.

### integral

Integral gain of the controller.

### derivative

Derivative gain of the controller.

### filter coefficient [a]

Derivative lowpass filter coefficient of the controller.

## Algorithm Definition

The following transfer function represents a PID controller in the Parallel form:

${C}_{p}\left(s\right)={K}_{p}^{\prime }+\frac{{K}_{i}^{\prime }}{s}+\frac{{K}_{d}^{\prime }s}{{\alpha }_{p}{K}_{d}^{\prime }s+1}$

where

• ${K}_{p}^{\prime }$ is the proportional gain
• ${K}_{i}^{\prime }$ is the integral gain
• ${K}_{d}^{\prime }$ is the derivative gain
• ${\alpha }_{p}$ is the derivative filter coefficient

Where This Node Can Run:

Desktop OS: Windows

FPGA: Not supported

Web Server: Not supported in VIs that run in a web application