| IN | 
| D |
DiscreteDifferentiator - Discrete Differentiator |
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| IN |
| D |
| Connections(2) | Position | Remark |
| IN | Left | Input |
| D | Right | Differentiator output |
| Parameters(1) | Default | Remark |
| SampleTime[s] | 1m | Samples the input with a sample time defined in seconds |
| Function | Differentiates the input and multiplies it with the parameter Kd | |
| Special | Use this block for creating PD or PID controllers | |
| Note | Be carefull with applying differentiators, since it may lead to oscilllations | |
| Status | Standard | |
| Select from | Components\Library\Control\PI_Controllers | |
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