( − 3 d B p o i n t ) = 1 2 π ( R 1 ∗ R 2 ∗ C 1 ∗ C 2 ) 1 2 {\displaystyle (-3dB point) = \frac{1}{2\pi}(R1*R2*C1*C2)^\frac{1}{2} }
x [ n + 1 ] = x [ n ] + γ ( u [ n ] − x [ n ] ) − K P ∑ j = 1 N ( 1 N x j [ n ] ) + K I ∑ j = 1 N ( 1 N w j [ n ] ) {\displaystyle x[n+1] = x[n] + \gamma(u[n]-x[n]) - K_P\sum_{j=1}^N(\frac{1}{N}x_j[n]) + K_I\sum_{j=1}^N(\frac{1}{N}w_j[n]) }
w [ n + 1 ] = w [ n ] − K I ∑ j = 1 N ( 1 N x j [ n ] ) {\displaystyle w[n+1] = w[n] - K_I\sum_{j=1}^N(\frac{1}{N}x_j[n]) }
![{\displaystyle
x[n+1] = x[n] + \gamma(u[n]-x[n]) - K_P\sum_{j=1}^N(\frac{1}{N}x_j[n]) + K_I\sum_{j=1}^N(\frac{1}{N}w_j[n])
}](/index.php?title=Special:MathShowImage&hash=a0b296a312ab6e001dbbb9652e693fd5&mode=mathml)
![{\displaystyle
w[n+1] = w[n] - K_I\sum_{j=1}^N(\frac{1}{N}x_j[n])
}](/index.php?title=Special:MathShowImage&hash=d0d3e9a93bc7f7edfbf5e0a252da31cf&mode=mathml)
