// CP: 65001
// SimulationX Version: 3.8.2.45319 x64
within AIDAModelica;
model ControlPosition "ControlPosition_Modelica.ism"
	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={{-140,40},{-100,80}}),
		iconTransformation(extent={{-120,-70},{-80,-30}})));
	Modelica.Blocks.Interfaces.RealInput Drone_position[3] "'input Real' as connector" annotation(Placement(
		transformation(extent={{-85,-15},{-45,25}}),
		iconTransformation(extent={{-120,30},{-80,70}})));
	Modelica.Blocks.Continuous.LimPID PID[3](
		controllerType=Modelica.Blocks.Types.SimpleController.P,
		k={10,10,10},
		Ti={0.5,0.5,0.5},
		Td={0.1,0.1,0.1},
		yMax={100,100,100},
		initType=Modelica.Blocks.Types.InitPID.SteadyState,
		limitsAtInit={false, false, false},
		y_start={1,58,0}) "P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting" annotation(Placement(transformation(extent={{-30,50},{-10,70}})));
	equation
		connect(PID.y,Position_command[:]) annotation(Line(
			points={{-9,60},{-4,60},{45,60},{50,60}},
			color={0,0,127},
			thickness=0.0625));
		connect(Drone_position_consign[:],PID.u_s) annotation(Line(
			points={{-120,60},{-115,60},{-37,60},{-32,60}},
			color={0,0,127},
			thickness=0.0625));
		connect(Drone_position[:],PID.u_m) annotation(Line(
			points={{-65,5},{-60,5},{-20,5},{-20,43},{-20,48}},
			color={0,0,127},
			thickness=0.0625));
	annotation(
		Icon(graphics={
			Rectangle(
				fillColor={255,255,255},
				fillPattern=FillPattern.Solid,
				extent={{-100,100},{100,-100}})}),
		experiment(
			StopTime=1,
			StartTime=0,
			Interval=0.002,
			MaxInterval="0.001"));
end ControlPosition;