### Block: D

Inports
In | Control error input
D0 | Derivational value which is loaded during initialization. (Usually this inport is connect to the In inport.)
Enable | Enable == 0: Deactivation of block; Out set to 0 Enable 0->1: Preload of derivational part Enable == 1: Activation of block

Outports
Out | Control value

Mask Parameters
Name | ID | Description
Kd | 1 | Derivative Factor
fc | 2 | Cutoff frequency of realization low pass
ts_fact | 3 | Multiplication factor of base sampling time (in integer format)

##### Description:

D Controller:

G(s) = Kd*s/(s/(2*pi*fc) + 1)

A rising flank at the Enable inport will preload the derivational part with the value present on the Init inport.

Transfer function (zero-order hold discretization method):

Developer note: The source code of block DLimit is used.

##### Implementations:

FiP16 | 16 Bit Fixed Point Implementation
FiP32 | 32 Bit Fixed Point Implementation
Float32 | 32 Bit Floating Point Implementation
Float64 | 64 Bit Floating Point Implementation

#### Implementation: FiP16

16 Bit Fixed Point Implementation

Inports Data Type
In | int16
D0 | int16
Enable | bool

Outports Data Type
Out | int16

#### Implementation: FiP32

32 Bit Fixed Point Implementation

Inports Data Type
In | int32
D0 | int32
Enable | bool

Outports Data Type
Out | int32

#### Implementation: Float32

32 Bit Floating Point Implementation

Inports Data Type
In | float32
D0 | float32
Enable | bool

Outports Data Type
Out | float32

#### Implementation: Float64

64 Bit Floating Point Implementation

Inports Data Type
In | float64
D0 | float64
Enable | bool

Outports Data Type
Out | float64