How to create this equation in simulink?

Hello, this equation is the discrete time PI controller transfer function. How can I create this equation in simulink? Please, any idea.

u(t) = u(t-1) + Kp [e(t) - e(t-1)] + Kp (Ts/Ti) e(t)

[Sam Chak]

Have you tried using the Discrete PID Controller block to accomplish part of the equation in ?

Answer 1

[Aquatris]

you can use 'delay' block to make the u(t) = u(t-1) part of the equation.

you can use another 'delay' block to make the e(t) = e(t-1) part of the equation.

Kp, Ts and Ti can be done via constants with 'divide' blocks or they can be 'gain' blocks themselves.

Then you would need some 'sum' blocks.

The rest is just connecting them appropriatly.

Answer 2

[Finn]

Your equation would look like this.