Insert Gain Schedule
- Updated2023-02-17
- 3 minute(s) read
Insert Gain Schedule
Inserts a gain schedule element to a gain schedule so that the maximum value of the inserted element is greater than the preceding maximum value in the gain schedule.
Inputs/Outputs
gain schedule in
Gain values for the control parameters and maximum value of the gain scheduling values.
gain
Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.
This input accepts a double-precision, floating-point number or a cluster. The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
maximum
Maximum value of the range of the gain scheduling values.
gain schedule element
Gain scheduling values to insert to the gain schedule.
gain
Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.
This input accepts a double-precision, floating-point number or a cluster. The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
maximum
Maximum value of the range of the gain scheduling values.
gain schedule out
Output gain schedule.
gain
Proportional gain, integral gain, derivative gain, or filter coefficient parameter of the controller.
This output can return a double-precision, floating-point number or a cluster. The data type and cluster elements change according to the controller type. This node supports the following controller types:
- P (Proportional)
- PI (Proportional-Integral)
- PD (Proportional-Derivative)
- PID (Proportional-Integral-Derivative)
maximum
Maximum value of the range of the gain scheduling values.
Programming Patterns
You can call the Create Gain Schedule node to obtain the gain schedule for a controller before using this node.
Cluster Elements for Different Controller Types
The following table shows the elements the input and output gain clusters contain for different controller types.
| Controller Type | Gain Cluster Elements |
|---|---|
| P | proportional gain |
| PD | proportional gain, derivative gain, and derivative lowpass filter coefficient |
| PI | proportional gain and integral gain |
| PID | proportional gain, integral gain, derivative gain, and derivative lowpass filter coefficient |