| General Design of Controller |
| Modelica.Blocks.Types.SimpleController | controllerType | Modelica.Blocks.Types.SimpleController.PID | Type of controller |
| Real | sign | 1 | set to 1 if a positive control error leads to a positive control output, else -1 |
| Normalisation of I/O Signals |
| Boolean | perUnitConversion | true | True, if input and output values should be normalised with respect to reference values |
| Real | u_ref | 1 | Reference value for controlled variable |
| Real | y_ref | 1 | Reference value for actuated variable |
| Limiter for Controller Output |
| Real | y_max | 1 | Upper limit of output |
| Real | y_min | -y_max | Lower limit of output |
| Time Response of the Controller |
| Real | k | 1 | Gain of Proportional block |
| Modelica.Units.SI.Time | Tau_i | 0.5 | 1/Tau_i is gain of integrator block |
| Modelica.Units.SI.Time | Tau_d | 0.1 | Gain of derivative block |
| Anti-Windup Compensation |
| Modelica.Units.SI.Time | Ni | 0.9 | 1/Ni is gain of anti-windup compensation |
| Derivative Filtering |
| Real | Nd | 1 | The smaller Nd, the more ideal the derivative block, setting Nd=0 introduces ideal derivative |
| Controller activation |
| Boolean | use_activateInput | false | Provide Boolean input to switch controller on/off. |
| ClaRa.Basics.Units.Time | t_activation | 0.0 | Time when controller is switched on. For use_activateInput==true the controller is switched on if (time>t_activation AND activateController=true). |
| ClaRa.Basics.Units.Time | Tau_lag_I | 0.0 | Time lag for activation of integral part AFTER controller is being switched on |
| Real | y_inactive | 1 | Controller output if controller is not active |
| I/O Filters |
| Real | Tau_in | 0 | Time constant for input smoothening, Tau_in=0 refers to signal no smoothening |
| Real | Tau_out | 0 | time constant for output smoothening, Tau_out=0 refers to signal no smoothening |
| Initialization |
| InitPID | initType | Modelica.Blocks.Types.Init.InitialState | Type of initialization |
| Boolean | limitsAtInit | true | = false, if limits are ignored during initializiation |
| Real | xi_start | 0 | Initial or guess value value for integrator output (= integrator state) |
| Real | xd_start | 0 | Initial or guess value for state of derivative block |
| Real | y_start | 0 | Initial value of output |
| Expert Settings › DAE Index Reduction |
| Real | Tau_add | 0 | Set to >0 for additional state after add block in controller, if DAE-index reduction fails. |
