The PI Controller consists of an integrator with a proportional gain.
|•||Gain Kp: The controller gain Kp determines the high frequency gain of the controller.|
|•||Gain Ki: The controller gain Ki determines the frequency gain of the controller at frequency w = 1 [rad/s].|
|•||Frequency fi: The integration behavior of the controller stops after frequency fi in Hz. A decrease of this frequency corresponds to a more pure integration behavior.|