ControlledIntegral
This block implements a controlled integrator. The output is the integral of the input signal but constrained by bound constrains.
Library
Activate/Dynamical
Description
The primary function of this block is to implement an integrator.
It functions similarly to the Integral block with saturation option, except that
the upper and lower saturation values are defined by input signals as opposed to block parameters.
Thus the saturation upper and lower values can be time varying.
The re-initialization and SaturationStatus options are identical to those of the Integral block.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
x0 | Initial condition | Defines the initial state of the integrator, which can be a real or complex matrix. If the initial value is scalar and the input is not scalar (vector or matrix), the initial value is expanded automatically to match the internal state size. | Matrix | |
reinit | With re-initialization | Sets the state to the specified initial condition based on an external signal. If the new state is a function of the previous state (the value just before the reinitialization event), a Lastinput block connected to the integral block output may be used. | Number | 0 |
saturationstatus | Saturation status | If selected, a second output indicates if the integrator is saturated. The output is 1 if the integrator output reaches the upper limit. The output is -1 if the integrator output reaches the lower limit. The output is 0 if the integrator output is not saturated. | Number | 0 |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
Port 1 | explicit | output | 1+saturationstatus | |
upper | explicit | input | 1 | |
xd | explicit | input | 2 | |
lower | explicit | input | 3 | |
Port 5 | explicit | input | reinit | |
Port 6 | activation | input | reinit |