The PD Controller consists of a differentiator with proportional gain.
|•||Gain Kp: The controller gain Kp determines the low frequency gain of the controller.|
|•||Gain Kd: The controller gain Kd determines the gain of the controller at frequency w = 1 [rad/s].|
|•||Frequency fd: The differentiation behavior of the controller stops at frequency fd in Hz. An increase of this frequency corresponds to a more pure differentiation behavior, reducing the tameness of the controller.|