a way for solution;

Cpu which is version 3.0 and less has a property to change the duty cycle, but cpu which is version 4.0 or higer has a porperty to change duty cycle and cycle time.

My cpu is version 3.0, for this reason ı can only change duty cycle.

for pwm 1 I can use qw1000, for pwm 2 I can use qw 1002 integer address.

I am applying pid compact for both of these address.

I am not using any encoder.

Only two fast switching valves, open/closed type. and this valves are controlled via PWM.

and to measure the position of cylinder a lineer transducer is used.

All of them is this...