Dual loop control for positioning system.-- motion ocntrol

I am currently doing a dual loop control for a positioning system, i use the tachometer to read the velocity and the position encoder about the position of the platform.
the problem i am currently encounter is that i am not sure weather the computer have the PID toolkit, because i can not find them under the control design and simulation module. so i did a PID use the basic labview functions, related information is in the attached documents.
i am not sure about the dt part, did the labview have this kind of function like to calculate the simpling time??
do i have to install the labview real_time potion? i am right using the labview 8.5
another question is that, how i am going to let the system remember the position instead of return to 0 every time i restarted the program? otherwise is there any other way that i can command the motor to move to the target position which is initially defined?
the last question is that that is it possible for me to generate a profile regarding the current and the desired position? to set a maximum velocity and acceleration.
i do not have a motion controller, so i did not install the motion and version module.
can some one suggest me a way to do this?
Solved!
Go to Solution.

attached is the files.
Attachments:
Integral.vi ‏8 KB
Dt.vi ‏7 KB
A CLOSED-LOOP TEMPERATURE CONTROL SYSTEM.pdf ‏886 KB

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