ABSTRACT
The PID controller formula U (t) is expressed as below.
U k e t T
t dt T de dtp i
t ( )t [ ( (e) ) ( )t ]= +∫1 0 (2) In this formula, kp represents the scale fac-
tor, Ti represents the integral factor and Td represents the differential factor. In order to make sure STM8S105 can achieve the PID control algorithm, the analogue PID control needs to be changed into equivalent digital PID control as follows.
