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Need help in the development of PID algorithm for position

HI,

I need a help to build the positioner using Labview and NI hadware.

My inputs to the NI hardware are

1. 0 to 5 V( which is feedback from the system), i used 10K pot and powered with 5V

2. 4 to 20ma from the sensor.

Output 

1. PWM signal ( 5V).

Hardware used:

Here i am using NI9184 chassis and 9239 analog input, 9401 PWM generator, 9265 analog output modules.

Functionality of the system.

based on the current input level(4ma = 0% & 20ma = 100%) generate the PWM signal so that the actuator will move to the desired position by actuating the spool( spool will control the flow of air). Software should compare with the analog input (0 v = 0% & 5 V = 100%) with respect to the current input level(4ma = 0% & 20ma = 100%) and maintain the system stable.

In my scenario overshoot should be <0.5%, system should be steady once it reaches the set point and there should not be any oscillation before settling.

Can anyone suggest the good PID Vi's.

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