#### Configuring the PID compensator

To configure the PID compensator, enter the following
values into the PID
Controller-Digital block:

Since the feed forward and derivative gain are set to 0,
the block is actually configured to operate as a PI controller. Saturation is
set to limit the influence of the integral correction to )20 Hz. Proportional
bandwidth is set at Nyquist frequency (½ the sampling frequency); derivative
bandwidth does not matter in this controller. **Use Higher Precision** is
activated to allow trapezoidal integration to be used.

Integral reset is not used on this controller, so a const block with a value of 0 is fed into
PID Controller-Digital
to prevent integral reset. The actual values for the proportional and integral
gain were determined experimentally in the final configuration to obtain minor
overshoot and settling in the control.

This completes the construction of the **Volts/Hz
Controller** compound block.