Marko Bursic

I have made a PID regulator, Traj. planner and simulator. All blocks were tested in PLCSIM (S7-300). The best result showed the use of traj. planner.position ->P-regulator with input limitation + planner.velocity as feedforward.
I attached source blocksin SCL

 We are trying to control a Pneumatic Servo Valve(Non-Linear Characteristic) with your quote, FB10. However, we are getting results by adjusting the planner.velocity as feedforward . We are not able to adjust the feed forward based on the Non-Linear characteristic of Servo Valve. We are not able to understand your FB12 , that can you give little detail about usage of FB12. Can it help in adjusting the offset.

Alternatively timely share us the sample program.

Well I have to see some backup of project. I almost forgot that block. Looking at it is indeed to complicated for servo valve. You should remove the PID leaving only P controller and feedforward. Further you have to add the valve characteristics.

Now, which PLC you intend to use, because with newer S7-1500 you can use built-in TO object and add valve characteristics in MC_PostServo OB, if using the older s7-300 then you would need a FB with traj. planer and P.controler, actually this is the TO object in newer PLC.

I used this kind (not exactly this FB) to control multi saw blades with hydraulic actuators, the pneumatics is even more complicated than hydraulics, not sure if you will succeede with any Simatic family to control the pneumatics.