# piddata2

Access coefficients of parallel-form 2-DOF PID controller

## Syntax

## Description

`[`

returns the PID gains `Kp`

,`Ki`

,`Kd`

,`Tf`

,`b`

,`c`

]
= piddata2(`sys`

)`Kp`

,`Ki`

, `Kd`

,
the filter time constant `Tf`

, and the setpoint
weights `b`

and `c`

of the parallel-form
2-DOF PID controller represented by the dynamic system `sys`

.

If `sys`

is a `pid2`

controller
object, then each output argument is the corresponding coefficient
in `sys`

.

If `sys`

is not a `pid2`

object,
then each output argument is the corresponding coefficient of the
parallel-form 2-DOF PID controller that is equivalent to `sys`

.

If `sys`

is an array of dynamic systems,
then each output argument is an array of the same dimensions as `sys`

.

`[`

also returns the sample
time `Kp`

,`Ki`

,`Kd`

,`Tf`

,`b`

,`c`

,`Ts`

]
= piddata2(`sys`

)`Ts`

. For discrete-time `sys`

that
is not a `pid2`

object, `piddata2`

calculates
the coefficient values using the default `ForwardEuler`

discrete
integrator formula for both `IFormula`

and `DFormula`

.
See the `pid2`

reference page
for more information about discrete integrator formulas.

## Examples

## Input Arguments

## Output Arguments

## Version History

**Introduced in R2015b**

## See Also

`pid2`

| `pidstddata2`

| `piddata`