Unresolved include directive in modules/ROOT/pages/base-lib-continuous/pid-controller.adoc - include::ROOT:partial$localization-en/blocks/PIDController.adoc[] :block_path_1: /Basic/Continuous/PID Controller :block_path_2: /Basic/Discrete/Discrete PID Controller :block_title_1: {blockLibraryPP_blocksPP_FF_BasicFF_ContinuousFF_PIDSS_ControllerPP_label} :block_title_2: {blockLibraryPP_blocksPP_FF_BasicFF_DiscreteFF_DiscreteSS_PIDSS_ControllerPP_label}

{blockLibraryPP_blocksPP_FF_BasicFF_ContinuousFF_PIDSS_ControllerPP_label}

PID controller.

blockType: PIDController

{block_title_1}

Path in the library:

{block_path_1}

{block_title_2}

Path in the library:

{block_path_2}

Description

The {blockLibraryPP_blocksPP_FF_BasicFF_ContinuousFF_PIDSS_ControllerPP_label} block implements a PID controller (PID, PI, PD, P only or AND only).

The block output is a weighted sum of the input signal, integral of the input signal and derivative of the input signal. The summation weights are given by proportional, integral and differential coefficients. The first order pole filters the differential component.

The block supports several regulator types and structures. Possible options:

Type of regulator (PID, PI, PD, P only or I only).
Regulator shape (parallel or ideal).
Time domain (continuous or discrete).
Initial conditions.

When these parameters are changed, the internal structure of the block changes: the corresponding subsystem variants are activated.

Control configuration

In general, the PID controller unit operates in a feedback control loop.

discrete pid controller 1

The input of the unit is an error signal representing the difference between the setpoint and the system output signal.

Ports

Input

# u — description missing

Details

Description missing

Data types	Description missing
Complex numbers support	Description missing

Output

# y — description missing

Details

Description missing

Data types	Description missing
Complex numbers support	Description missing

Parameters

Main

# Controller: — controller type
PID | PI | PD | P | I

Details

Specifies the composition of the regulator:

{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID} - proportional, integral and differential parts.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PI} - only proportional and integral parts.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD} - proportional and differential parts only.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_P} - only the proportional part.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_I} - only the integral part.

Values	`PID` \| `PI` \| `PD` \| `P` \| `I`
Default value	`PID`
Program usage name	`Controller`
Tunable	No
Evaluatable	Yes

# Form: — regulator structure
Ideal | Parallel

Details

Specifies whether the regulator structure is parallel or ideal:

{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_FormPP_optionsPP_Parallel} - the output of the regulator represents the sum of the proportional, integral and differential parts independently weighted by , and , respectively. For example, for a parallel form PID controller with continuous time, the transfer function is of the form:

.

For a parallel-form controller with discrete time, the transfer function has the form:

,

where the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_label} and {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label} define and , respectively.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_FormPP_optionsPP_Ideal} - proportional gain acts on the sum of all parts. For example, for a PID controller of ideal form with continuous time, the transfer function has the form:

For an ideal-form controller with discrete time, the transfer function has the form:

,

where the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_label} and {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label} define and , respectively.

Values	`Ideal` \| `Parallel`
Default value	`Parallel`
Program usage name	`Form`
Tunable	No
Evaluatable	Yes

# Time-domain: — discrete or continuous time controller
Continuous-time | Discrete-time

Details

For the value {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time} it is recommended to explicitly specify the calculation step for the block. When selecting the value {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time} parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_label} and {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label} are also included.

When the block {blockLibraryPP_blocksPP_FF_BasicFF_ContinuousFF_PIDSS_ControllerPP_label} is in a model with synchronous state control, you cannot select the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Continuous-time}.

Values	`Continuous-time` \| `Discrete-time`
Default value	`—`
Program usage name	`TimeDomain`
Tunable	No
Evaluatable	Yes

Discrete-time settings

# Sample time (-1 for inherited): — interval between calculation steps

Details

Specify the interval between calculation steps as a non-negative number. To inherit a calculation step, set this parameter to -1.

It is recommended to explicitly specify the regulator calculation step, especially if the calculation step of subsequent blocks is expected to change. The effect of the regulator coefficients , , and depends on the calculation step. Thus, for a given set of coefficient values, changing the calculation step changes the regulator performance.

Dependencies

To use this parameter, set the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}.

Default value	`-1`
Program usage name	`SampleTime`
Tunable	No
Evaluatable	Yes

# PID Controller is inside conditionally executed subsystem — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`UseExternalTs`
Tunable	No
Evaluatable	Yes

Integator and Filter methods

# Integrator method: — integration method in a discrete controller
Forward Euler | Backward Euler | Trapezoidal

Details

In discrete time, the integral term of the controller transfer function is equal to , where depends on the integration method:

{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_ForwardSS_Euler} - direct rectangular (left-handed) approximation:

.

This method is best suited for small computation step intervals when the Nyquist limit is large compared to the controller bandwidth. For larger sampling times, the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_ForwardSS_Euler} can lead to instability, even in the case of discretising a system that is stable in continuous time.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_BackwardSS_Euler} - inverse rectangular (right-handed) approximation:

.

The advantage of the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_BackwardSS_Euler} is that discretisation of a stable continuous-time system with usage of this method always yields a stable discrete-time result.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_Trapezoidal} - bilinear approximation:

.

The advantage of the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_Trapezoidal} is that discretisation of a stable continuous-time system with usage of this method always yields a stable discrete-time result. Of all available integration methods, the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_optionsPP_Trapezoidal} gives the closest correspondence between the properties of the frequency domain of the discretised system and the corresponding system with continuous time.

Dependencies

To use this parameter, set {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to the value of {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}.

Values	`Forward Euler` \| `Backward Euler` \| `Trapezoidal`
Default value	`Forward Euler`
Program usage name	`IntegratorMethod`
Tunable	No
Evaluatable	Yes

# Filter method: — method of calculating the derivative in a discrete controller
Forward Euler | Backward Euler | Trapezoidal

Details

In discrete time, the differential term of the transfer function of the controller is equal to:

where depends on the integration method:

{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_ForwardSS_Euler} - direct rectangular (left-handed) approximation:

.

This method is best suited for small computation step intervals when the Nyquist limit is large compared to the controller bandwidth. For larger sampling times, the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_ForwardSS_Euler} can lead to instability, even in the case of discretising a system that is stable in continuous time.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_BackwardSS_Euler} - inverse rectangular (right-handed) approximation:

.

The advantage of the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_BackwardSS_Euler} is that discretisation of a stable continuous-time system with usage of this method always yields a stable discrete-time result.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_Trapezoidal} - bilinear approximation:

.

The advantage of the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_Trapezoidal} is that discretisation of a stable continuous-time system with usage of this method always yields a stable discrete-time result. Of all available integration methods, the method {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_optionsPP_Trapezoidal} gives the closest correspondence between the properties of the frequency domain of the discretised system and the corresponding system with continuous time.

Dependencies

Values	`Forward Euler` \| `Backward Euler` \| `Trapezoidal`
Default value	`Forward Euler`
Program usage name	`FilterMethod`
Tunable	No
Evaluatable	Yes

Controller parameters

# Source: — description missing
internal | external

Details

description missing

Values	`internal` \| `external`
Default value	`internal`
Program usage name	`ControllerParametersSource`
Tunable	No
Evaluatable	Yes

# Proportional (P): — proportional coefficient

Details

The finite real value of a pro rata coefficient. When {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_FormPP_label}:

{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_FormPP_optionsPP_Parallel} - the proportional action is independent of the integral and derivative actions. For example, for a parallel PID controller with continuous time the transfer function has the form:

.

For a parallel-form controller with discrete time, the transfer function has the form:

,

where the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_label} and {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label} define and , respectively.
{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_FormPP_optionsPP_Ideal} - the proportional coefficient is applied to the sum of all parts. For example, for a PID controller of ideal form with continuous time, the transfer function has the form:

.

For an ideal-form controller with discrete time, the transfer function has the form:

,

where parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_IntegratorMethodPP_label} and {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label} define and respectively.

Dependencies

To use this parameter, set the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} parameters to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PI}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD} or {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_P}.

Default value	`1.0`
Program usage name	`P`
Tunable	No
Evaluatable	Yes

# Integral (I): — integral factor

Details

The final real value of the integral coefficient.

Dependencies

To use this parameter, set the parameter {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PI} or {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_I}.

Default value	`1.0`
Program usage name	`I`
Tunable	No
Evaluatable	Yes

# Derivative (D): — differential coefficient

Details

The finite real value of the differential coefficient.

Dependencies

To use this parameter, set the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} to {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID} or {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD}.

Default value	`0.0`
Program usage name	`D`
Tunable	No
Evaluatable	Yes

# Filter coefficient (N): — filtration coefficient of the derivative

Details

The finite real value of the filter gain. The filter coefficient determines the position of the filter pole in the differential part of the block. The position of the filter pole depends on the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label}.

When {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} is set to {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}, the pole position depends on the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_IntegratorSS_andSS_FilterSS_methodsPP_FilterMethodPP_label}.

Default value	`100.0`
Program usage name	`N`
Tunable	No
Evaluatable	Yes

# Use I*Ts (optimal for codegen) — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`UseKiTs`
Tunable	No
Evaluatable	Yes

# Use externally sourced derivative — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`UseExternalDerivativeSource`
Tunable	No
Evaluatable	Yes

# Use filtered derivative — filter the derivative

Details

Only for PID controllers with discrete time: Uncheck this box to replace the filtered derivative with an unfiltered value. In this case the differential term of the controller transfer function will become:

For PID controllers with continuous time, the derivative component is always filtered.

Dependencies

To use this parameter, set the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to and to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}`and set the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} to `{blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID} or {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD}.

Default value	`true (switched on)`
Program usage name	`UseFilter`
Tunable	No
Evaluatable	Yes

Integrator and Filter initial conditions

# Integrator: — integrator initial value

Details

Initial value of the integrator.

Dependencies

To use this parameter, set the parameters {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PI} or {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_I}.

Default value	`0.0`
Program usage name	`InitialConditionForIntegrator`
Tunable	No
Evaluatable	Yes

# Differentiator: — initial value of the derivative

Details

Initial value of the derivative.

Dependencies

To use this parameter, set {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to , uncheck , and set to 0. {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}, uncheck {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_ControllerSS_parametersPP_UseFilterPP_label}, and set the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} parameters to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD}.

Default value	`0.0`
Program usage name	`DifferentiatorICPrevScaledInput`
Tunable	No
Evaluatable	Yes

# Filter: — initial filter value

Details

The initial value of the filter.

Dependencies

To use this parameter, set {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to , and set to 0. {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Discrete-time}, select the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_ControllerSS_parametersPP_UseFilterPP_label} check box, and set the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} parameters to . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD}. Or set {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_label} to {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_TimeDomainPP_optionsPP_Continuous-time}, and set the {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_label} parameters to , , , , , , , , , , and set the parameters to , , . {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PID}, {blockLibraryPP_blockTypesPP_PIDControllerPP_BasePP_paramsPP_PP_PP_ControllerPP_optionsPP_PD}.

Default value	`0.0`
Program usage name	`InitialConditionForFilter`
Tunable	No
Evaluatable	Yes

Tracking mode

# Enable tracking mode — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`TrackingMode`
Tunable	No
Evaluatable	Yes

# Tracking coefficient (Kt): — description missing

Details

description missing

Default value	`1.0`
Program usage name	`Kt`
Tunable	No
Evaluatable	Yes

Output saturation

# Limit output — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`LimitOutput`
Tunable	No
Evaluatable	Yes

# Source: — description missing
internal | external

Details

description missing

Values	`internal` \| `external`
Default value	`internal`
Program usage name	`SatLimitsSource`
Tunable	No
Evaluatable	Yes

# Upper limit: — description missing

Details

description missing

Default value	`Inf`
Program usage name	`UpperSaturationLimit`
Tunable	No
Evaluatable	Yes

# Lower limit: — description missing

Details

description missing

Default value	`-Inf`
Program usage name	`LowerSaturationLimit`
Tunable	No
Evaluatable	Yes

Anti-windup

# Anti-windup Method: — description missing
none | back-calculation | clamping | external

Details

description missing

Values	`none` \| `back-calculation` \| `clamping` \| `external`
Default value	`none`
Program usage name	`AntiWindupMode`
Tunable	No
Evaluatable	Yes

# Back-calculation coefficient (Kb): — description missing

Details

description missing

Default value	`1.0`
Program usage name	`Kb`
Tunable	No
Evaluatable	Yes

Integrator saturation

# Limit output — description missing

Details

description missing

Default value	`false (switched off)`
Program usage name	`LimitIntegrator`
Tunable	No
Evaluatable	Yes

# Upper limit: — description missing

Details

description missing

Default value	`Inf`
Program usage name	`UpperIntegratorSaturationLimit`
Tunable	No
Evaluatable	Yes

# Lower limit: — description missing

Details

description missing

Default value	`-Inf`
Program usage name	`LowerIntegratorSaturationLimit`
Tunable	No
Evaluatable	Yes

{blockLibraryPP_blocksPP_FF_BasicFF_ContinuousFF_PIDSS_ControllerPP_label}

Description

Control configuration

Ports

Input

Output

Parameters

Main

Discrete-time settings

Integator and Filter methods

Controller parameters

Integrator and Filter initial conditions

Tracking mode

Output saturation

Anti-windup

Integrator saturation

Examples