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PID Control Linearisation

So in industry, if you are lucky the process engineers have designed the control valve to give you a nice linear flow to valve lift installed characteristic. That is the assumption... which makes and "ass" out of "u" and "me". People often try to kill this bird with gain scheduling. I prefer to use an output non-lineariser to convert the PID output in the linear world to the inverted non-linear valve. The nice thing about this in industrial control systems, is that the mapping piecewise linear block has pushback initialisation, so you can even use it in more complex problems. This is a working example on an Emerson DeltaV DCS system. The Yokogawa have a similar block for linear interpolation, but you need to change some settings to ensure that pushback occurs. Never implement this without a manual loader on the Yokogawa ! BTC: 13NTcBLecF4nxNcAqi8aBjtea6vGBqD9tM ETH: 0x1e9557ba0aaee93a1c3fc87899cd9cbfe9926ce5 ETC: 0x1e9557ba0aaee93a1c3fc87899cd9cbfe9926ce5 LTC: LNPRPsVfLuR8627ZXMWg2RS15TiQUiATYJ ZEC : t1bn9n2xT14wCzmm6ieTnfTqnyhzf6upPVQ BCH: 1ELZE2PtLes3a4Kwz3yp6k2kDjtmHEkFFm DSH: XeaooG3SHnBZdTkkpCiYLZyYezYHBSX79J