1 % ===============================================================================
2 % optiPIDctrl Lukas Reichlin February 2012
3 % ===============================================================================
4 % Return PID controller with roll-off for given parameters Kp, Ti and Td.
5 % ===============================================================================
7 function C = optiPIDctrl (Kp, Ti, Td)
9 tau = Td / 10; % roll-off
11 num = Kp * [Ti*Td, Ti, 1];
12 den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
18 % ===============================================================================