Configure nonlinear gain using PID

  1. Select PID block.
  2. Set FRSIPID_OPTS to Use Nonlinear Gain.
  3. Set the following parameters to your specifications:
    • Gain
    • Reset
    • Rate
    • NL_GAP
    • NL_HYST
    • NL_TBAND
    • NL_MINMOD

By setting Gain to 2 and NL_TBAND to 50 (with the others set to 0), the PID block provides an error squared output with a maximum gain of 2.