Controller Icon

`Controller`

Parameters:

Name	Description	Units
`kp`		–
`ki`		–
`kd`		–
`y0`	Initial value of the output	–

Connectors

err_input - This connector represents a real signal as an input to a component (RealInput)
ctr_output - This connector represents a real signal as an output from a component (RealOutput)

Variables

Name	Description	Units
`x`		–
`dx`		–
`ddx`		–
`y`		–
`dy`		–

\[ \begin{align} \frac{\mathrm{d} x\left( t \right)}{\mathrm{d}t} &= \mathtt{dx}\left( t \right) \\ \frac{\mathrm{d} \mathtt{dx}\left( t \right)}{\mathrm{d}t} &= \mathtt{ddx}\left( t \right) \\ \frac{\mathrm{d} y\left( t \right)}{\mathrm{d}t} &= \mathtt{dy}\left( t \right) \\ \mathtt{err\_input}\left( t \right) &= x\left( t \right) \\ \mathtt{ctr\_output}\left( t \right) &= y\left( t \right) \\ \mathtt{dy}\left( t \right) &= \left( \mathtt{dx}\left( t \right) + \mathtt{kd} \mathtt{ddx}\left( t \right) + \mathtt{ki} x\left( t \right) \right) \mathtt{kp} \end{align} \]

Source

component Controller
  err_input = RealInput() [{
    "JuliaSim": {
      "placement": {"icon": {"iconName": "error_input", "x1": -50, "y1": 450, "x2": 50, "y2": 550}}
    }
  }]
  ctr_output = RealOutput() [{
    "JuliaSim": {
      "placement": {
        "icon": {"iconName": "control_output", "x1": 950, "y1": 450, "x2": 1050, "y2": 550}
      }
    }
  }]
  parameter kp::Real
  parameter ki::Real
  parameter kd::Real
  # Initial value of the output
  parameter y0::Real
  variable x::Real
  variable dx::Real
  variable ddx::Real
  variable y::Real
  variable dy::Real
relations
  initial y = y0
  der(x) = dx
  der(dx) = ddx
  der(y) = dy
  err_input = x
  ctr_output = y
  dy = kp*(dx+ki*x+kd*ddx)
metadata {
  "JuliaSim": {"icons": {"default": "jsml://JuliaSimExampleComponents/controller.svg"}}
}
end

Flattened Source

component Controller
  err_input = RealInput() [{
    "JuliaSim": {
      "placement": {"icon": {"iconName": "error_input", "x1": -50, "y1": 450, "x2": 50, "y2": 550}}
    }
  }]
  ctr_output = RealOutput() [{
    "JuliaSim": {
      "placement": {
        "icon": {"iconName": "control_output", "x1": 950, "y1": 450, "x2": 1050, "y2": 550}
      }
    }
  }]
  parameter kp::Real
  parameter ki::Real
  parameter kd::Real
  # Initial value of the output
  parameter y0::Real
  variable x::Real
  variable dx::Real
  variable ddx::Real
  variable y::Real
  variable dy::Real
relations
  initial y = y0
  der(x) = dx
  der(dx) = ddx
  der(y) = dy
  err_input = x
  ctr_output = y
  dy = kp*(dx+ki*x+kd*ddx)
metadata {
  "JuliaSim": {"icons": {"default": "jsml://JuliaSimExampleComponents/controller.svg"}}
}
end

Test Cases

Examples
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