PID-controller in additive description form
Library
Blocks/Continuous
Description
This blocks defines the transfer function between the input u and the output y as a textbook PID controller:

For a more practically useful PID controller, use block LimPID.
Parameters

- k [-] : Gain (k): Scalar.
- Ti [s] : Time Constant of Integrator (>0) (Ti): Scalar.
- Td [s] : Time Constant of Derivative block (>=0) (Td): Scalar.
- Nd [-] : The higher Nd, the more ideal the derivative block (>0) (Nd): Scalar.
Ports
- Port 1 at left position: implicit input fixedport numbered 1.
- Port 1 at right position: implicit output fixedport numbered 1.