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\textbf{Preloading Integral}\\
A rising edge at the \emph{Enable} inport enables the controller and preloads the integral.\\
One may choose from two options how to preload the integral value:
\begin{itemize}
	\item Preload the integral from the \emph{Init} inport.
	\item Preload the integral such that the first output of the controller matches the current value at the \emph{Init} inport.
	\newline This option allows controller switching without disturbing the control.
\end{itemize}

\paragraph{Note:}Each fixed point implementation uses the next higher integer data type for the integral value storage variable.


\noindent
\textbf{Transfer function} (zero-order hold discretization method):\\
When the block is enabled, the PI controller realizes the following transfer function:
\begin{eqnarray*}
	G(z) = K_{\mathrm{p}} + K_{\mathrm{i}}T_{\mathrm{s}}\frac{1}{z-1}
\end{eqnarray*}

\paragraph{Developer note:} The source code of block \textit{PILimit} is used.