The basics of the dynamics of the closed loop control (CLC) are described in a compact way according to [16–20] to make it easier to get started with the next chapters on controller setting and management of controllers. The description starts by presenting the single CLC blocks in the time domain as differential equations. Then the Laplace-transform is briefly presented and the transition from Laplace-domain to frequency domain is shown. The controlling plants are divided according to their dynamical behavior in P, I, and D types and are summarized in tables corresponding to differential equations, transfer functions, and bode plots. The same classification is done in tables concerned P-, I-, and D-terms of controllers. The definition of transfer functions of an open loop and closed loop is given, and the transfer functions of setpoint and disturbance behavior are defined. The stability and performance criterion of CLC are discussed. The tuning of controllers is separated in the next chapter.


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