// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model ControlPosition "ControlPosition_Modelica.ism"
	import AIDA.*;
	Modelica.Blocks.Interfaces.RealOutput Position_command[3] "'output Real' as connector" annotation(Placement(
		transformation(extent={{40,50},{60,70}}),
		iconTransformation(extent={{90,-10},{110,10}})));
	Modelica.Blocks.Interfaces.RealInput Drone_position_consign[3] "'input Real' as connector" annotation(Placement(
		transformation(extent={{-150,10},{-110,50}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement(
		transformation(extent={{-150,55},{-110,95}}),
		iconTransformation(extent={{-120,30},{-80,70}})));
	Modelica.Blocks.Interfaces.RealOutput y1[3](displayUnit="-")=i2RO1.x "'output Real' as connector (i2RO1)";
	Modelica.Blocks.Continuous.LimPID PID[3](
		controllerType=Modelica.Blocks.Types.SimpleController.P,
		k={1.26,1.26,1.26},
		yMax={1000,1000,1000}) annotation(Placement(transformation(extent={{-30,50},{-10,70}})));
	Modelica.Blocks.Math.Feedback feedback1 annotation(Placement(transformation(extent={{-70,70},{-50,50}})));
	equation
		connect(feedback1.y,PID.u_s) annotation(Line(
			points={{-51,60},{-46,60},{-37,60},{-32,60}},
			color={0,0,127},
			thickness=0.0625));
		connect(feedback1.u1,Drone_position_consign[:]) annotation(Line(
			points={{-68,60},{-73,60},{-125,60},{-125,30},{-130,30}},
			color={0,0,127},
			thickness=0.0625));
		connect(feedback1.u2,Drone_position[:]) annotation(Line(
			points={{-60,68},{-60,73},{-60,75},{-125,75},{-130,75}},
			color={0,0,127},
			thickness=0.0625));
		connect(PID.y,Position_command[:]) annotation(Line(
			points={{-9,60},{-4,60},{45,60},{50,60}},
			color={0,0,127},
			thickness=0.0625));
	annotation(
		Icon(graphics={
			Rectangle(
				fillColor={255,255,255},
				fillPattern=FillPattern.Solid,
				extent={{-100,100},{100,-100}}),
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				extent={{-90,-74.2},{103.3,83.40000000000001}})}),
		experiment(
			StopTime=1,
			StartTime=0,
			Interval=0.002,
			MaxInterval="0.001"));
end ControlPosition;