What are the best algorithm for PID and what unit for tune I (Integral) and tune D (Derivative) ?

[philip]

In my opinion Velocity C is the best for most situations:

PID Algorithms old vs new

The tuning parameters for ISA obsolete, ISA and Velocity C can all be interchanged without changing the tuning of the loop. See PID Algorithm Question In my experience the Velocity C is the easiest to work with since the tuning parameters and the setpoint can be modified while the loop is in auto without a bump in the output. You can also change the output of the Velocity C while in auto and it will operate from that value, whereas the other algorithms you have to switch to manual, change the o…

If you need Feed Forward though, use one of the others.

When I start to tune a loop, I start with a reasonable Gain and a very small Tune I. You have a large output range so a Gain around 100 is what I would start with if using a 1 sec scan rate.