Table 6 The controller parameters.
Expression | Definition | |
|---|---|---|
Kp | : | Proportional gain |
KD | : | Derivative gain |
KI | : | Integral gain |
Kprd | : | Predictive term constant |
Kh | : | Delay time of the predictive term |
n | : | Derivative action filter constant |
λ | Fractional integrator order |