limPID

P, PI, PD, and PID controller with limited output, anti-windup compensation,
setpoint weighting and optional feed-forward
Based on MSL Modelica LimPID block

    limPID

Library

Activate/Dynamical

Parameters

limPID_0

NameLabelDescriptionData TypeValid Values

ControllerType

Type of controller

Structure

ControllerType/P

P controller

Number

0
1

ControllerType/PI

PI controller

Number

0
1

ControllerType/PD

PD controller

Number

0
1

ControllerType/PID

PID controller

Number

0
1

k

Gain of controller

Scalar

Ti

Ti, Time constant of Integrator block

Scalar

Td

Td, Time constant of Derivative block

Scalar

yMax

Upper limit of output

Scalar

yMin

Lower limit of output

Scalar

wp

Set-point weight for Proportional block (0..1)

Scalar

wd

Set-point weight for Derivative block (0..1)

Scalar

Ni

Ni, Ni*Ti is time constant of anti-windup compensation

Scalar

Nd

The higher Nd, the more ideal the derivative block

Scalar

withFeedForward

Use Feed Forward input?

Number

0
1

kFF

Gain of feed-forward input

Scalar

steadyState

Start in steady state?

Number

0
1

xi_start

Initial or guess value for integrator output (= integrator state)

Scalar

xd_start

Initial or guess value for state of derivative block

Scalar

Ports

NameTypeDescriptionIO TypeNumber

Port 1

explicit

input

2+withFeedForward

y

explicit

output

1