within AIDAModelica;
model YAngularSpeedErrorModel "Y angular speed error calculation model"
	Modelica.Blocks.Interfaces.RealInput PitchCosign(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,30},{-80,70}})));
	Modelica.Blocks.Interfaces.RealInput Pitch(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,-20},{-80,20}})));
	Modelica.Blocks.Interfaces.RealInput AngularSpeedY(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'input Real' as connector" annotation(Placement(
		transformation(extent={{-20,-20},{20,20}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealOutput AngularSpeedYError(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "'output Real' as connector" annotation(Placement(
		transformation(extent={{-10,-10},{10,10}}),
		iconTransformation(extent={{86.7,-10},{106.7,10}})));
	parameter Real Kwteta=1.5 "Proportional gain Kwteta";
	parameter Boolean RTStepConsign=false "test pour commande de step sur la consigne de vitesse angulaire";
	Real eteta(
		quantity="Mechanics.Rotation.Angle",
		displayUnit="rad") "Teta error";
	Real wyd(
		quantity="Mechanics.Rotation.RotVelocity",
		displayUnit="rad/s") "Desired angular speed Y";
	equation
		// enter your equations here
		eteta = Pitch-PitchCosign;
		
		if RTStepConsign==true and abs(PitchCosign)>0.001 then 
		    		wyd = Kwteta;
		else
		          	wyd = -Kwteta*eteta;
		end if;
		AngularSpeedYError = wyd-AngularSpeedY;
	annotation(Icon(graphics={
		Rectangle(
			fillColor={255,255,255},
			fillPattern=FillPattern.Solid,
			extent={{-100,100},{100,-100}})}));
end YAngularSpeedErrorModel;