31.
비례＋적분＋미분동작(PID동작)식을 바르게 나타낸 것은?
①
\(x_0=K_p\left(x_i+\frac{1}{T_I}\int x_i dt+T_D\frac{dx_i}{dt}\right)\)
②
\(x_0=K_p\left(x_i-\frac{1}{T_I}\int x_i dt-T_D\frac{dx_i}{dt}\right)\)
③
\(x_0=K_p\left(x_i+\frac{1}{T_I}\int x_i dt+T_D\frac{dt}{dx_i}\right)\)
④
\(x_0=K_p\left(x_i-\frac{1}{T_I}\int x_i dt-T_D\frac{dt}{dx_i}\right)\)