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Integrator
Continuous-time integrator: out = K * ∫ in dt + x₀. Optional output saturation for anti-windup. Common in PID controllers and physical models.
Category: Continuous
Ports
| Name | Direction | Value type | Notes |
|---|---|---|---|
in | input | double | |
out | output | double |
Parameters
| Name | Label | Type | Default | Units | Description |
|---|---|---|---|---|---|
gain | K | double | 1 | — | |
initial_value | x₀ | double | 0 | — | |
saturation | Saturation | enum (Off / On) | 0 | — | Clamp the integrator state to [lower_limit, upper_limit]. Provides anti-windup. |
upper_limit | x_max | double | 1 | — | |
lower_limit | x_min | double | -1 | — |