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This element makes use of the →LimPID element in the Modelica Standard Library. The controller is a very flexible component which allows to model P, PI, PD, PID controllers as needed.
A PID controller continually calculates the error e(t) = u_desiredValue(t) - u_currentValuet(t) and then applies a correction based upon proportional (P), integral (I), and derivatice (D) terms as indicated in the standard form
The parameter k here denotes the total gain for the controller's output, i.e., the sum of the respective error terms. Ti can be thought of as the time span to correct the total accumulated error, while Td is the time to forecast the error into the future, i.e., the current rate of change for the error times Td.