Propotional integral (PI) controller

Diagram

pictl diagram

Syntax:

function name: pictl
input variable : \(x_k\)
output variable: \(x_j\)
data name, parameter name or math expression for \(K_I\)
data name, parameter name or math expression for \(K_p\)

Internal states : variable \(x_i\)

Discrete variable : none

Equations

\(\dot{x_i} = K_i x_k\) \(0 = K_p x_k + x_i - x_j\)

Initialization of internal state variables

\[x_i = x_j\] Evaluate