Modelica.Blocks.Continous.LimPID -> gain on proportional block

[BasilioPV]

k (PID gain) is applied to all component, there is no exposed the k parameter for proportional block.
So, for increase the weight of proportional block, the user must increase all component gain and then reduce the gain of the derivative and integrator blocks.

Is this behaviour usual?

[HansOlsson]

That is at least one common way of doing it.

Found as equation 8.16 in Computer-Controlled Systems 2nd ed by Karl Johan Åström and Björn Wittenmark. One benefit is that Ti and Td are given as times and thus easy to interpret.

But there are other parametrizations as well.