This component models a resettable proportional-integral controller in the discrete domain with optional non-windup limits. The component is triggered by the 2-element, interpolated Enable/Disable port signal.
The solution method for this function is as follows:
Where,
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Output signal |
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Time at last execution |
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Time at execution, before the last execution |
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Input signal at last execution |
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Input signal at execution, before the last execution |
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Time constant at last execution |
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Time constant at execution before the last execution |
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Proportional gain at last execution |
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k = 1 for forward Euler, k = 0 for Backward Euler and k = 0.5 for Trapezoidal integration rules.
More: |
Derivative with a Time Constant (Z-Domain) |
Name for Identification |
Text |
Optional text parameter for identification of the component. |
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Proportional Gain |
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Real |
Variable |
Proportional gain. |
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Integral Time Constant |
Real |
Variable |
Integral time constant [s]. |
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Integration Method |
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Choice |
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Select from Forward Euler, Backward Euler or Trapezoidal. |
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Limit Output? |
Choice |
Select Yes or No to enable or disable non-windup limits. |
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Maximum Limit |
Real |
Variable |
Maximum limit of the component, visible only if Limit Output? | Yes is selected. |
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Minimum Limit |
Real |
Variable |
Minimum limit of the component, visible only if Limit Output? | Yes is selected. |
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Resettable? |
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Choice |
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Select Never, Anytime or Timezero.
When to enable reset. If Anytime is selected, a port for the reset signal is enabled. |
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Reset Output of Integrator |
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Real |
Variable |
Value output upon reset action. |
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Is Input Already Sampled? |
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Choice |
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Select Yes if the input to the component is already executed at the same execution signal. If No is selected, the input will be re-sampled before execution. |
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Dimension |
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Integer |
Literal |
Enter the dimension of the input signal. The output will be of the same dimension. |
Time Constant |
Real |
Variable |
Time constant [s]. |
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Output Value After Reset |
Real |
Variable |
The output value directly after a reset. |
Upper Limit |
Real |
Variable |
Maximum limit of the integrator, visible only if Limit Output? | Yes is selected. |
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Lower Limit |
Real |
Variable |
Minimum limit of the integrator, visible only if Limit Output? | Yes is selected. |
