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Hello there! I'm trying to drive DC Motor with PLC V570 via PWM. This is for my diploma thesis so I want to do it nice and design PID controller in Simulink Matlab. In PLC I want to do identification of the transfer function for this system with step response. This is the first order system, so it shouldn't be a problem. Than I'm going to use this transfer function in Simulink to find PID parameters. At the end, I got P,I and D parameters from Simulink, and I don't know to transfer them into PLC. For example for closed loop system with discrete PI controller in ideal form P(1 + I*Ts*1/ (z-1)) (Serial PI) I have P = 1.93, I= 1.86[sec] Ts = 0.1[sec] Than in PLC I got Sample Time = Ts = 0.1[sec] = 10 Integral time = I= 1.86[sec] = 2, because it is defined in units of 1 second, Proportional band =(1/P)*100% =51.81% = 518 defined in units of 0.1% Am I doing this right? Could anyone please tell me what is the type of transfer function for PID controller is used in PLC Vision V570 (Serial or parallel)? And how do I correctly transfer parameters P, I, D into PID regulator in PLC. Thank you.