Converts gains in the Academic, Parallel, or Series form to the form you specify.
You can call the Create Gain node to obtain gain values for a controller before using this node.
Form of the input gains.
Name | Value | Description |
---|---|---|
Academic | 0 | Specifies that the gains are in the Academic form. |
Parallel | 1 | Specifies that the gains are in the Parallel form. |
Series | 2 | Specifies that the gains are in the Series form. This item is available only when you wire PID or PD gains values to gains in. For PI controllers, the Series form is the same as the Academic form. |
Default: Academic
Form of the output gains.
Name | Value | Description |
---|---|---|
Academic | 0 | Specifies that the output gains are in the Academic form. |
Parallel | 1 | Specifies that the output gains are in the Parallel form. |
Series | 2 | Specifies that the output gains are in the Series form. This item is available only when you wire PID or PD gains values to gains in. For PI controllers, the Series form is the same as the Academic form. |
Default: Academic
The following table shows the elements the input and output gain clusters contain for different controller types.
Controller Type | Gain Cluster Elements |
---|---|
PD | proportional gain, derivative gain, and derivative lowpass filter coefficient |
PI | proportional gain and integral gain |
PID | proportional gain, integral gain, derivative gain, and derivative lowpass 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