For implementation, see the Texas Instruments Digital Motor Control document.

**Integral Gain*dT:** Indicates the integral gain
pre-multiplied by the system *dt*. For example, for *Ki* = 0.5 and
*dt* = 0.01, the coefficient is 0.005.

**Lower Limit:** Indicates the lower limit of PI
output.

**Proportional Gain:** Indicates the proportional
gain.

**Upper Limit:** Limits internal integrator and PI
output.

**Use Block Inputs for Gains:** Adds additional inputs
for the P (proportional) and I (integral) gains.