Integrator

Continuous-time integrator: out = K * ∫ in dt + x₀. Optional output saturation for anti-windup. Common in PID controllers and physical models.

Category: Continuous

Keywords: 1/s, s^-1, integral, accumulator, I term, PID

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	—

Used in samples

• Multirate Pi
• Open Loop Integrator
• Pi Controller
• Pwm Power Control
• Pwm Subsystem

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Implemented in C++ class SimCompCtlIntegrator (components/control/CSim_comp_ctl_integrator/sim_comp_ctl_integrator.h).