# step.pid
#
# shows the step function response with a 10%
# step in "manual mode", that is using the
# constant bias parameter only
#
# sets the Set point value the same as the
# desired output, even though it has no
# real effect, so my plot capture routine
# picks it up and it shows in the illustration
#
#  Copyright (C) 2000  Jack Klein
#                      Macmillan Computer Publishing
#

# ordinary parameters, set before execution begins

P=0            Proportional gain
I=0            Integral gain
D=0            Derivative gain
H=0            output Hold
A=0            Acceleration feed forward
F=0            Friction feed forward
V=0            Velocity feed forward
B=20           constant Bias
R=0            acceleration Rate
S=20           Set point
T=1            Transfer ratio
L=0.368        response Lag
N=-100         miNimum output
M=100          Maximum output
W=0            sleW limit

# execute 51 cycles altogether, 11 with the
# original parameters to allow the output to settle

Y=51           cYcle count

# now events triggered after 11 cycles
# change the constant Bias and Set point
# both from 20 to 30, a 10% step and turn
# on the P with a high gain

@11  S=30      Set point
@11  P=1.9     Proportional gain

# finished 51 cycles, time to quit

@51  Q         Quit