Proportional - Integral - Differential Regulator by Louis Laret An explanitory diagram can be found in the source code for this component. Also shown there are the inputs, outputs, and parameters. PID ALGORITHM: T = current time dT = time step ER t = X 1 - X 2 ERO = ER t - dT SP = KP * ER ER + ERO DSI t = ---------- 2 last desaturation SIO t = SUMMATION ( DSI t) K = 1 SI = SID + DSI t ER + ERO SD = KD --------- dT FOR ISAT < 0: S = SP + SI + SD FOR ISAT = -1: |S|, |SP|, |SI|, |SD| <= 1 and 0<=S<=1 FOR ISAT = 0: SP + SI + SD S = 0.5 + --------------- 2.0 with |SP|, |SI|, |SD|<=1.0 and 0<=S<=1 DES is a desaturating flag, when all other units have converged, if ISAT > -2, DES = 1 which means that desaturation is required, at the beginning of the next step, OSIO is reset to O. Ref: Type 37: P-I-D Regulator Louis Laret Centre De Recherche De Sophia Antipolis B.P. 21-06561 Valbonne Cedex July 1988