## PILIMtau - Limited PI controller K,tau

### Connection Diagram:

 IN PI

 Connections(13) Position Remark PI Right Output IN Left Input

 Parameters(4) Default Remark Min -1e6 Minimum output limit Max 1e6 Maximum output limit tau 1 Integration time constant tau K 1 Proportional Gain

 Function PI controller where the integration I is limited between min and max Parameters are specified as the proportional gain K and time constant tau Special The limiter is inside the integrator I and therefore has anti-windup

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