Mathematical Modelling and Implementation of 2DOF Standard, Parallel & Series PID Controllers

Mathematical and practical implementation of a standard, parallel, and series 2DOF PID controllers is discussed within the article. Certain relationships are provided for mutual conversation as their parameters and set-point weights are customizable. These controllers are applied to a plant transfer function and the obtained results are presented in detail. We have evaluated them on three bases when all regulatory parameters and setpoints are the same, when setpoints are different and when regulatory parameters are different.